summaryrefslogtreecommitdiff
path: root/digital/ucoolib/ucoolib/dev/usdist/usdist.hh
diff options
context:
space:
mode:
Diffstat (limited to 'digital/ucoolib/ucoolib/dev/usdist/usdist.hh')
-rw-r--r--digital/ucoolib/ucoolib/dev/usdist/usdist.hh79
1 files changed, 79 insertions, 0 deletions
diff --git a/digital/ucoolib/ucoolib/dev/usdist/usdist.hh b/digital/ucoolib/ucoolib/dev/usdist/usdist.hh
new file mode 100644
index 00000000..6f86d24a
--- /dev/null
+++ b/digital/ucoolib/ucoolib/dev/usdist/usdist.hh
@@ -0,0 +1,79 @@
+#ifndef ucoolib_dev_usdist_usdist_hh
+#define ucoolib_dev_usdist_usdist_hh
+// ucoolib - Microcontroller object oriented library. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// 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.
+//
+// }}}
+#include "ucoolib/intf/adc.hh"
+#include "ucoolib/intf/io.hh"
+
+namespace ucoo {
+
+class UsDistControl;
+
+/// Single US distance sensor.
+class UsDist
+{
+ public:
+ /// Constructor.
+ UsDist (UsDistControl &ctrl, Adc &adc, Io &io,
+ int distance_min, int distance_max, int distance_too_far = -1);
+ /// Enable measure.
+ void enable ();
+ /// Disable measure.
+ void disable ();
+ /// Read current value.
+ int read ();
+ /// Return last measured distance.
+ int get () const { return distance_; }
+ private:
+ Adc &adc_;
+ Io &io_;
+ UsDist *next_;
+ int distance_min_, distance_max_, distance_too_far_;
+ int distance_;
+ friend class UsDistControl;
+};
+
+/// Handle a set of US distance sensors.
+class UsDistControl
+{
+ public:
+ /// Constructor.
+ UsDistControl (int period);
+ /// Make measurements, return true if a new measure is available.
+ bool update ();
+ private:
+ /// Number of updates between measures.
+ int period_;
+ /// Pointer to linked list of sensors.
+ UsDist *sensors_;
+ /// Current measuring sensor.
+ UsDist *current_;
+ /// Number of updates before the next action.
+ int wait_;
+ friend class UsDist;
+};
+
+} // namespace ucoo
+
+#endif // ucoolib_dev_usdist_usdist_hh