Hello,
My project is to construct a robot with several ultra sonic sensors in order to follow a moving object, but it seems like my US sensors are interfering with each others (one works well but when I add the second and then the third, I got unstable and with wrong values).
I googled a little and found this “Event capture mode” but only for NXT controllers. So i thought about writing and reading by myself thanks to the I2C table here : http://www.legomindstormsrobots.com/rotatcasters/robotc-multiple-utrasonic-sensors/
But I don’t really know how to do it exactly and if I am on the right path…
Any help will save me a lot of time 
Regards,
Bulle3