example.nxc

#include "NXTViSy.nxc"

#define PORT IN_1
#define SIGNATURE 1

void PrintInitError(long error_code)
{
    TextOut(0, LCD_LINE4, "NXTViSyInit error: ");
    NumOut(90, LCD_LINE4, error_code);
    while(1) {
        ;
    }
}

void PrintGetDataError(byte error_code)
{
    if (error_code == GET_DATA_I2C_BYTES_ERR) {
        TextOut(0, LCD_LINE5, "I2CBytes error in function");
        TextOut(0, LCD_LINE6, "GetData()");
        while (true) {
            ;
        }
    }
    if (error_code == GET_DATA_RECEIVED_BYTES_ERR) {
        TextOut(0, LCD_LINE5, "Unexpected count of bytes");
        TextOut(0, LCD_LINE6, "received in function GetData()");
        while (true) {
            ;
        }
    }
}

task main()
{
    SetSensorNXTViSy(PORT);
    long err = NXTViSyInit(SIGNATURE, 10, 24 * 100);
    if (err != NO_ERR) {
        PrintInitError(err);
    }

    int distance;
    byte action;
    string writable_action = "x";

    while (true) {
        ClearScreen();

        err = NXTViSyGetData(distance, action); // byte vyriable would by enough, but long can be used
        if (err != NO_ERR) {
            PrintGetDataError(err);
        }

        writable_action[0] = action;
        TextOut(0, LCD_LINE4, "Distance: ");
        NumOut(60, LCD_LINE4, distance);
        TextOut(0, LCD_LINE5, "Action: ");
        TextOut(48, LCD_LINE5, writable_action);
        Wait(100);
    }
}