## int MAP_Dist (VWHandle vw_, PSDHandle psd_, PSDHandle psdLeft, IRHandle ir_r_, char *map_)

> Obtains the distance to the nearest obstacle using the right PSD sensor

## Documentation

> Obtains the distance to the nearest obstacle using the right PSD sensor. Records the obstacle and all spaces between the obstacle and the robot into the grid. Also checks the left PSD sensor for obstacles.

Returns:
  The distance to the obstacle using the right PSD sensor
Parameters:
  vw_ - The VW Handle
  psd_ - The right PSD sensor
  psdLeft - The left PSD sensor
  ir_r_ - The right infra-red sensor
  map_ - The grid for storage
Author:
  Nicholas Tay, CIIPS 1998

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