#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