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ocompass.h

/*
Object Oriented Mobile Robot Model (OOMRM) C++  Library Copyright (C) 2002-2005  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: ocompass.h,v 1.1.1.1 2006/05/11 05:22:40 derek Exp $ 
*/
#ifndef _COMPASS_H 
#define _COMPASS_H 
#include <hardware/odio1_tpu.h>
#include <hardware/opta.h>

#ifdef DOS
class oCompassDV
#else
class oCompassDV : public oPTA
#endif
{ 
public:
  oCompassDV(IOLINE);   
  MICROSECOND microseconds(void);       
  DEGREE value(void);   
  void callibrate(float);       
private:
  oEncoder              _TPU;  /* tpu channel the PTA function is on */ 
  IOLINE                _tpu_channel;   // oDIO objects don't track what channel their on.
//  void                        InitializePTA() const; 
  float                 _callibrate;
protected:
  oCompassDV(void);
}; 
#endif 

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