+ case 0x0B: // Distance forward2 MSB
+ tmp16 = dist_forward2;
+ TWDR = tmp16>>8;
+ TWI_ACK;
+ break;
+ case 0x0C: // Distance forward2 LSB
+ TWDR = tmp16;
+ TWI_ACK;
+ break;
+ case 0x0D: // Current MSB
+ tmp16 = current;
+ TWDR = tmp16>>8;
+ TWI_ACK;
+ break;
+ case 0x0E: // Current LSB
+ TWDR = tmp16;
+ TWI_ACK;
+ break;
+ case 0x15: // Distance forward1 MSB
+ tmp16 = dist_forward1;
+ TWDR = tmp16>>8;
+ TWI_ACK;
+ break;
+ case 0x16: // Distance forward1 LSB
+ TWDR = tmp16;
+ TWI_ACK;
+ break;
+ case 0x17: // Distance backward MSB
+ tmp16 = dist_backward;
+ TWDR = tmp16>>8;
+ TWI_ACK;
+ break;
+ case 0x18: // Distance backward LSB
+ TWDR = tmp16;
+ TWI_ACK;
+ break;
+ case 0x19: // Distance forward2 MSB
+ tmp16 = dist_forward2;
+ TWDR = tmp16>>8;
+ TWI_ACK;
+ break;
+ case 0x1A: // Distance forward2 LSB
+ TWDR = tmp16;
+ TWI_ACK;
+ break;