I am trying to use both an MPU6050 IMU and an I2CXL-MaxSonar-EZ ultrasonic range sensor on a single Arduino board in order to send data to ROS. I am attempting to make a MaxSonar driver using I2Cdevlib as it the MPU code is far more difficult to change. The problem I am running into is that the datasheet (http://www.maxbotix.com/documents/I2CXL-MaxSonar-EZ_Datasheet.pdf) doesn't have a full register map. I have the device ID and data I need to send to the sonar to tell it to take a range measurement, but it doesn't give the register address to send the data to. Has anyone else tried doing this? Am I missing something somewhere? Any help is appreciated.