I2CWrite(US1, 0×41, 0×01);     // Set US1 Sensor in Event Capture Mode
    Dist1 = SensorUS(US1);
    Wait(50);
    I2CWrite(US1, 0×41, 0×00);     // Set US1 Sensor to Off
    DIS1 = NumToStr(Dist1);
    TextOut(0, LCD_LINE3, "US Sensor1 " + DIS1 + "   ");

    sendI2CMsg(US1, 0x41, 0x01);                     // Set US1 Sensor in Event Capture Mode
    wait1Msec(50);
    Dist1 = SensorValue[US1];
    sendI2CMsg(US1, 0x41, 0x00);                     // Turn off Sonar Sensor on Digital ports 1
    nxtDisplayTextLine(1, "US1:    ", "%d", Dist1);

/**
 * Get the distance values from the sensor
 * @param link the US port number
 * @return distance from the sensor or 255 if no valid range has been specified.
 */
int USreadDist(tSensors link)

/**
 * Configure the US sensor for Event Capture mode
 * @param link the US port number
 * @return true if no error occured, false if it did
 */
bool USsetEventCapture(tSensors link)

/**
 * Turn the sensor off.
 * @param link the US port number
 * @return true if no error occured, false if it did
 */
bool USsetOff(tSensors link)

#pragma config(Sensor, S1,     US1,            sensorI2CCustom9V)
#pragma config(Sensor, S2,     US2,            sensorI2CCustom9V)
#pragma config(Sensor, S3,     US3,            sensorI2CCustom9V)
#pragma config(Sensor, S4,     US4,            sensorI2CCustom9V)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

/* Xander Soldaat's 'Third Party Driver' for the LEGO Sonar */
#include "drivers/LEGOUS-driver.h" 

task main()
{
  while(true)
  {
    nxtDisplayClearTextLine(5);
    USsetSingleMode(US1);                 // Set US1 Sensor in Single Shot Mode
    wait1Msec(50);                        // Wait to Capture Distance Value
    Dist1 = USreadDist(US1);              // Read the Sonar Sensor's Distance Value
    nxtDisplayTextLine(5, "%d", Dist1);
    USsetOff(US1);                        // Turn off Sonar Sensor on Digital ports 1
   }
}