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sonar_base.h

Go to the documentation of this file.

/*
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: sonar_base.h,v 1.2 2006/06/07 00:58:41 derek Exp $
*/
#ifndef SONAR_BASE_H
#define SONAR_BASE_H
#include <hardware/osonar.h>
#include <sensor_base.h>
#include <hardware/osonar.h>
#ifdef DOS
#include <sonar_base.h>
#endif

/*  The sonar base class is derived from the sensor_base class and allows for registering of sensors on the robot (Ref. sensor_base for details).

\par
    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 (Ref. oSonarDV for sonar details)

*/
class sonar_base : public sensor_base, public oSonarDV
{
public:
  sonar_base(short dfc, DEGREE forward, DEGREE rotate, IOLINE c, PORT p, IOLINE tpu, uint8 subclass=0);
  #ifdef DOS

  short value(void); 
  void WSwrite(void);
  #endif
protected:
};
#ifdef DOS

short emulated_value(sonar_base* const ir);
#endif

#endif

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