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interfacing of atmega 16 with SHARP 2D120X F17 range finder

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vishu489

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hi friends,
i'm trying to interface sharp 2d120x f17 ( ir range finder) with atmega 16. for interfacing i'm using internal adc in 8 bit resolution mode & i'm getting reading as follow

A/D VALUE DISTANCE
157-160 3cm
137-140 4 cm
117-120 5cm
104-106 6cm
090-092 7cm
079-080 8cm

and so on

but i'm not having formula to convert these values into distance
please help me
 

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