The weird characters seem to be extra.
Try this (don't change anything in the rprintf statements, there are extra and missing whitespaces on purpose):
while(1)
{
delay_cycles(23000);
ledon();
delay_cycles(23000);
sensorx=a2dConvert8bit(5);
delay_cycles(23000);
ledoff();
delay_cycles(23000);
if (sensorx < 10) {
rprintf("SHARP IR READING: %d\r\n", sensorx); //19 fixed characters, 1 for variable
} else if (sensorx < 100) {
rprintf("SHARP IR READING: %d\r\n", sensorx); //18 fixed characters, 2 for variable
} else {
rprintf("SHARPIR READING: %d\r\n", sensorx); //17 fixed characters, 3 for variable
}
delay_cycles(23000);
}Let me know if it works.