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Convert analogue voltage to distance value(GP2D12 sensor)?

I am new beginner in PIC microcontroller. I use PIC16F877A and Hi-Tech PICC LITE Compiler (C compiler). I already wrote C codes to get analogue voltage from GP2D12 distance sensor. But, i tried many times to convert it into distance value based on datasheet. I still can't get it. I NEED some help. I hope everyone can share experience and idea with me. The C codes as shown below. Thanks.
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