Using ultrasonic proximity sensors with a barionet(100)

[lstruter]

Hi everyone

I am currently involved in a project where I have to mount ultrasonic proximity sensors onto a motoman robot. The sensors will be used to indicate the proximity of the robot arm to objects. I will be using the Max Sonar EZ1 to EZ4 sensors as they can be connected via serial or analog. I have to use the barionet(100) for the sensors to be able to send the proximity readings to a computer.

The barionet has 4 analog inputs. Any help on connecting these sensors to the barionet?
Any help on programming the barionet?

P.S. I am an Industrial Engineering student, so I have minimal experience with these hardware
Any help will be much appreciated