using RoboticsConnection.Serializer.Components;
using RoboticsConnection.Serializer.Ids;
using RoboticsConnection.Serializer;
using System;
using System.ComponentModel;
namespace RoboticsConnection.Serializer.Sensors
{
/// <summary>
/// Represents a Sharp GP2D12 Infrared Sensor.
/// </summary>
/// <include file='Docs\remarks.xml' path='/remarks/remarks[@name="GP2D12"]'/>
[DefaultEvent("DistanceChanged")]
[DefaultProperty("DistanceChangedThreshold")]
public class GP2D12 : AnalogSensor, IDistanceSensor
{
#region Public Constants
/// <summary>
/// The default value for the <c>DistanceChangedThreshold</c> property.
/// </summary>
public const float DistanceChangedThresholdDefault = 1;
#endregion
#region Ctors
/// <summary>
/// Initializes a new instance of the <c>Serializer</c> class.
/// </summary>
public GP2D12()
{
}
/// <summary>
/// Initializes a new instance of the <c>Serializer</c> class, attaching
/// it to the specified serializer instance.
/// </summary>
public GP2D12(Serializer serializer)
{
    this.Serializer = serializer;
}
#endregion
#region Public Properties
/// <summary>
/// The distance, in inches, reported by the Sharp GP2D12 sensor.
/// </summary>
[Browsable(false)]
public double Distance
{
    get { return distance; }
}
/// <summary>
/// Specifies the amount that <c>Distance</c> must change before <c>DistanceChangedThreshold</c> is signalled.
/// </summary>
[DefaultValue(DistanceChangedThresholdDefault)]
[Description("Specifies the amount that Distance must change before DistanceChanged is signalled.")]
public double DistanceChangedThreshold
{
    get { return distanceThreshold; }
    set { distanceThreshold = value; }
}
#endregion
#region Public Events
/// <summary>
/// Occurs when <c>Distance</c> has changed by an amount greater than <c>DistanceChangedThreshold</c>.
/// </summary>
[Description("Occurs when Distance has changed by an amount greater than DistanceChangedThreshold.")]
public event SerializerComponentEventHandler DistanceChanged;
#endregion
#region Protected Methods
/// <summary>
/// Overriden to interpret the analog value and set <c>Distance</c>
/// accordingly. Signals <c>DistanceChanged</c>, if necessary.
/// </summary>
/// <param name="a2d"></param>
protected override void OnSetValue(int a2d)
{
    if (a2d < 4)
    {
        a2d = 4;
    }
    base.OnSetValue(a2d);
    // convert the value to a distance:
    distance = (6787 / (a2d - 3)) - 4;
    distance = (distance < 80) ? distance : 80;
    distance = (distance > 10) ? distance : 10;
    if (Serializer.Units == Ids.Units.English)
    {
        distance = distance / 2.54; // convert to inches;
    }
    // else no-op - already in cm, and the raw reading can
    // be obtained from the AnalogSensor base class Value property
    // if distance change exceeds threshold, then fire event 
    if (Math.Abs(distance - lastDistance) > distanceThreshold)
    {
        lastDistance = distance;
        Serializer.SignalEvent(DistanceChanged, this);
    }
}
#endregion
#region Privates
private double distance = 0;
private double lastDistance = 0;
private double distanceThreshold = DistanceChangedThresholdDefault;
#endregion
}
}

Best Regards!