https://medium.com/kidstronics/bridging-all-sensors-together-pitbot-ca8803bf9cb

_29_Sharp_Distance_Sensor_01.ino

/* Project: LEGO Episode # 29 
 * Bridging All Sensors Together — Pitbot
 * Collecting All Codes for the Final Act of Giving Behaviors to Robot 
 *   
 *   Sharp IR Sensor -  0A41SK 
 *   4–30cm Infrared IR Distance Measuring Sensor
 *   
 *   INO file: _29_Sharp_Distance_Sensor_01.ino
 *   
 *   date: 9/01/19
 *  
 *  code by: https://github.com/guillaume-rico
 *  hardware by: GP2Y0A02YK0F IRSharp (https://www.pololu.com/product/2464)
       software: Arduino IDE 1.8.9
 * 
 *  Description: There is no easy way more simple than that sketch to test right away GP2Y0A02YK0F IRSharp!
 *               Please open Serial Monitor at 9600 bps:)
 *  
 *  Visit: https://medium.com/kidstronics
 *         SHARP GP2Y0A710K0F IR sensor with Arduino and SharpIR library example code
 *         More info: https://www.makerguides.com 
 *  
 *  Tutorial: https://medium.com/kidstronics/bridging-all-sensors-together-pitbot-ca8803bf9cb
 *  
 *  License: CC-SA 3.0, feel free to use this code however you'd like.
 *  Please improve upon it! Let me know how you've made it better.
 */
/**/
                        // Include the library:
#include <SharpIR.h>
                        // Define model and input pin:
#define IRPin A5
#define model 430

                        // Create variable to store the distance:
int distance_cm;
/* Model :
  GP2Y0A02YK0F --> 20150
  GP2Y0A21YK0F --> 1080
  GP2Y0A710K0F --> 100500
  GP2YA41SK0F --> 430
*/
                        // Create a new instance of the SharpIR class:
SharpIR mySensor = SharpIR(IRPin, model);
void setup() {
                        // Begin serial communication at a baud rate of 9600:
  Serial.begin(9600);
}
void loop() {
                        // Get a distance measurement and store it as distance_cm:
  distance_cm = mySensor.distance();
                        // Print the measured distance to the serial monitor:
  Serial.print("Mean distance: ");
  Serial.print(distance_cm);
  Serial.println(" cm");
  delay(1000);
  }