   data*=5;data/=1024;//transform readed data to volts
   holdingRegs[IR]=(unsigned int)round(-115+205*data-29*data*data-216*log(data));//transform to distance, using magic formula
 }
+
 void Floor_update(){
   Robot.updateIR();
   byte sum=0;//count how many sensor on floor

  holdingRegs[TOTAL_ERRORS] = modbus_update(holdingRegs);
  IR_update();
  Floor_update();
  delay(50);
}


  IR,
  VOLTS,
  FLOOR, 
  COMPASS,
  E4,
  E5,
  E6,
