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ir_base.h

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/*
Object Oriented Mobile Robot Model (OOMRM) C++  Library Copyright (C) 2002-2006  Derek Jones

This library is free software; you can redistribute it  and/or
modify it under the terms of the GNU Lesser General Public
License  as published by the Free Software Foundation; either
version 2.1 of the  License, or (at your option) any later version.

This library 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
Lesser General Public License for more  details.

You should have received a copy of the GNU Lesser General  Public
License along with this library; if not, write to the Free  Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA   02111-1307  USA

 * $Id: ir_base.h,v 1.3 2007/10/09 01:59:01 derek Exp $
*/
#ifndef IR_BASE_H
#define IR_BASE_H
#include <sensor_base.h>
#include <hardware/oir.h>
/* NOTE: was multiple inheritance class IR_base : public Range_Sensor, public oIR
         but "this" pointer was not consistent at what it pointed to. Maybe GCC bug
         bug learning better to stear clear of multiple inheritance.
*/       
/*  To locate the sensor, fix the center of the robot somehow.  calculate how many millimeters sensor
    is from center.  Most robots have a "forward" (0 degrees), and lastly how many degrees are needed to 
    rotate around the robot to locate it.
*/
class IR_base : public sensor_base 
{
public:
  friend class Object_List;
  IR_base(short dfc, DEGREE forward, DEGREE rotate, IOLINE c, IR_TYPE ir,uint8 subclass=0); // channel on A2D for IR
  #ifdef DOS

  short value(void); 
  void WSwrite(void);
  #else
  short value(void);
  #endif

  void status(JAUS_STATE istat) { return _ir.status(istat); }
  protected:
  oIR _ir;
};
#ifdef DOS

short emulated_value(IR_base* const ir);
#endif
#endif

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