vex_sonar.h

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/*----------------------------------------------------------------------------*/
/*                                                                            */
/*    Copyright (c) Innovation First 2017, All rights reserved.               */
/*                                                                            */
/*    Module:     vex_sonar.h                                                 */
/*    Author:     James Pearman                                               */
/*    Created:    7 July 2017                                                 */
/*                                                                            */
/*    Revisions:                                                              */
/*                V1.00     TBD - Initial release                             */
/*                                                                            */
/*----------------------------------------------------------------------------*/
 
#ifndef   VEX_SONAR_CLASS_H
#define   VEX_SONAR_CLASS_H
 
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namespace vex {
  class sonar : public device {
      
      public:
        sonar( int32_t index );  
        ~sonar();
    
        bool            installed();
 
        int32_t         value();
 
        // settings
        void            setMaximum( double distance, distanceUnits units );
 
        double          distance( distanceUnits units );
 
        bool            foundObject();    
 
        void            objectDetected( void (* callback)(void) );
 
        void            changed( void (* callback)(void) );
      
        // action
 
      private:
        uint8_t         _eventId_1;
        uint32_t        _maxdistance;
        uint32_t        _mindistance;
        uint32_t        _distance;
 
        enum class tEventType {
          EVENT_OBJECT   = 1,
          EVENT_CHANGED  = 2
        };
      
        void            setMinimum( double distance, distanceUnits units );
        void            setFilter( uint32_t value );
        void            setBrightnessThreshold( uint32_t value );
        
        uint32_t        distanceToRaw( double distance, distanceUnits units );
        double          rawToDistance( uint32_t raw, distanceUnits units );
  };
};
 
#endif // VEX_SONAR_CLASS_H