[CronosPrime1]

Why is this code so complicated? I really don't see why you need all of this. I don't know anything about programming the range finder, but it seems to me that you should just be able to send the range finder a 0 or a 1 to trigger it and then measure with a timer the time it takes for the pulse to come back. Why is there all this complicated stuff? Is it really needed? I'm not criticizing, I just want to know for my own sake.