Just a note that it looks like the I2C sensor support has been improved with 
the new LEGO firmware. Ultrasonic and other I2C sensors now return values 
consistently (though you will see the occasional meaningless error). Well 
worth the upgrade:

http://mindstorms.lego.com/support/updates/?sw=1.0&fw=1.03&nxtswid=

(LEGO's post date of 07/12/2006 is wrong)

- Brian 


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