function [wall_sensor]   = WallSensorReadRoomba(serPort);
try
set(serPort,'timeout',.01);
%Flush buffer
N = serPort.BytesAvailable();
while(N~=0) 
fread(serPort,N);
N = serPort.BytesAvailable();
end
catch
end

%% Get (142) Wall Reading(8) data fields

fwrite(serPort, [142 8]);
wall_sensor = fread(serPort, 1);
end