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#ifndef sharp_h
#define sharp_h
// sharp.h
// es - Input/Output general purpose board. {{{
//
// Copyright (C) 2006 Dufour J�r�my
//
// Robot APB Team/Efrei 2004.
//        Web: http://assos.efrei.fr/robot/
//      Email: robot AT efrei DOT fr
//
// 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.
//
// }}}
/** Module for reading sharp sensors. */

#include "common.h"

/** Sharps positions
 * ADC1 -> Front right
 * ADC2 -> Front left
 */

/** Number of sharps. */
#define SHARP_NUMBER 2

/** Something in front of the sharp */
#define SHARP_OBSTACLE 1
/** Nothing in front of the sharp */
#define SHARP_CLEAR 0

/** Array of sharp values. */
extern uint16_t sharp_values[SHARP_NUMBER];

/** Init this module. */
void sharp_init (void);

/** Read data from sharp sensors.
 *  - sharp_num : the sharp number you want to update.
 */
void sharp_update_values (uint8_t sharp_num);

/** Analyse a sharp value.
 *  - sharp_num : the sharp number you want to analyse.
 *  - return    : SHARP_CLEAR if nothing in front, SHARP_OBSTACLE otherwise.
 */
int8_t sharp_analyse_values (uint8_t sharp_num);

/** Configure sharp threshold.
 *  - sharp_num : the sharp number you want to configure threshold.
 *  - high  : high threshold.
 *  - low   : low threshold.
 *  Note, high > low !
 */
void sharp_config_threshold (uint8_t sharp_num, uint16_t high, uint16_t low);

#endif // sharp_h