DIM VALEUR_GP2D02_1 As Byte
DIM VALEUR_GP2D02_2 As Byte
DIM VALEUR_GP2D02_3 As Byte

;******************************************************
;******************************************************
;*** récupère les valeurs issus des 3 télémètrse IR ***
;******************************************************
;******************************************************


	'*** test du gp2D02 N°1
test_gp2d02_1:
	SHIFTOUT 26,18,0,&HB
	gosub Gestion_erreur_I²C
	gosub Recup_valeur_gp2d02_x
	return

	'*** test du gp2D02 N°2
test_gp2d02_2:
	SHIFTOUT 26,18,0,&HC
	gosub Gestion_erreur_I²C
	gosub Recup_valeur_gp2d02_x
	return

	'*** test du gp2D02 N°3
test_gp2d02_3:
	SHIFTOUT 26,18,0,&HD
	gosub Gestion_erreur_I²C
	gosub Recup_valeur_gp2d02_x
	return

	'*** fct commune aux 3 fcts de récup des valeurs gp2d02
Recup_valeur_gp2d02_x:
	DISTANCE_OBSTACLE = 0
 	If Indic_Gestion_erreur = 0 then
deb_Recup_valeur_gp2d02_x:
		VALEUR_GP2D02_1 = IN(27)
		if VALEUR_GP2D02_1 = 0 Then
			goto deb_Recup_valeur_gp2d02_x
		end if 			
		DISTANCE_OBSTACLE = SHIFTIN(26,27,0)
		out 26,0
		GOSUB Convertion_Distance
		delay 1000
	End If
	return

	'*** Convertion de la distance
Convertion_Distance: 

bcle_Mesure_Distance:
	I_Rech_Tele = I_Rech_Tele + 1
	I_Rech_TeleSup = I_Rech_Tele + 1
	If CORRESPONDANCE_TELEMETRE(I_Rech_Tele) = DISTANCE_OBSTACLE Then
		I = I_Rech_Tele
		goto fin_bcle_mesure
	ElseIf CORRESPONDANCE_TELEMETRE(I_Rech_Tele) > DISTANCE_OBSTACLE AND CORRESPONDANCE_TELEMETRE(I_Rech_TeleSup) < DISTANCE_OBSTACLE Then
		I = I_Rech_Tele
		goto fin_bcle_mesure
	ElseIf I_Rech_TeleSup = 62 Then
		goto fin_bcle_mesure
	Else 
		goto bcle_Mesure_Distance
	End If

fin_bcle_mesure:
	If I = 0 Then
		AFF_CHAR = "Pas d'obstacle "+Dec(I,3,1) 
		Gosub AFFICHER_LCD
	Else
		AFF_CHAR = "Obstacle a:" + Dec(I,3,1) + "cm"
		Gosub AFFICHER_LCD
	End If
	Return