void updateIR(){
  // Request and read the 2 address bytes from the GP2Y0E02B
  Wire.beginTransmission(IR_ADDRESS);
  Wire.write(IR_DISTANCE_REG);
  Wire.endTransmission();
  
  Wire.requestFrom(IR_ADDRESS, 2);
  
  if (2 <= Wire.available()){
  
    ir_high = Wire.read();
    ir_low = Wire.read();
  
    ir_distance = (ir_high * 16 + ir_low)/16/(int)pow(2,ir_shift); // Calculate the range in CM
    
  }

  if(ir_distance < 100 && ir_distance > 3){
    valIR  = int(ir_distance);
  }else{
    valIR = int(0);
  }
  
}