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+#ifndef sharp_h
+#define sharp_h
+/* sharp.h */
+/* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{
+ *
+ * Copyright (C) 2008 Dufour Jérémy
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+
+/**
+ * @file Module to control distance measuring sensors (sharp).
+ * They can be used to detect obstacles, for example a bot.
+ * It uses the Analog to Digital Converter (ADC) of the AVR to read and
+ * understand data from the sharp sensors.
+ * This module keep a value of the last read values from the sharp and update
+ * it when calling the correct function.
+ */
+
+#include "common.h" /* uint*_t */
+
+/**
+ * Number of sharps.
+ */
+#define SHARP_NUMBER 6
+
+/**
+ * Front left sharp.
+ */
+#define SHARP_FRONT_LEFT _BV(0)
+
+/**
+ * Front right sharp.
+ */
+#define SHARP_FRONT_RIGHT _BV(1)
+
+/**
+ * Back left sharp.
+ */
+#define SHARP_BACK_LEFT _BV(2)
+
+/**
+ * Back right sharp.
+ */
+#define SHARP_BACK_RIGHT _BV(3)
+
+/**
+ * Low (0 index) and high (1 index) thresholds for interpreted sharp values.
+ */
+extern uint16_t sharp_threshold[SHARP_NUMBER][2];
+
+/**
+ * Initialize sharp module.
+ */
+void sharp_init (void);
+
+/**
+ * Update read data from sharps.
+ * This function is blocking. To get the value you have to use the get
+ * function (@a sharp_get_raw).
+ * @param sharp_mask list of sharps (using a mask) to update.
+ */
+void sharp_update (uint8_t sharp_mask);
+
+/**
+ * Get raw cached data from sharps.
+ * It read the cached data (updated by the @a sharp_update function).
+ * @param sharp_id the sharp id to get raw data from.
+ * @return the raw data read from the sharps (0 is a non valid value).
+ */
+uint16_t sharp_get_raw (uint8_t sharp_id);
+
+/**
+ * Configure the thresholds of a sharp.
+ * @param sharp_id the sharp id to configure the thresholds.
+ * @param low low threshold of the sharp.
+ * @param high high threshold of the sharp.
+ */
+void sharp_set_threshold (uint8_t sharp_id, uint16_t low, uint16_t high);
+
+/**
+ * Get interpreted value from sharps.
+ * It is used to know if there is something in front of the sharp.
+ * @param sharp_id the sharp number to get interpreted value from.
+ * @return
+ * - 0 if there is nothing in front of the sharp.
+ * - 1 if there is something in front of the sharp;
+ * - other values when error occurs.
+ */
+uint8_t sharp_get_interpreted (uint8_t sharp_id);
+
+#endif /* sharp_h */