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oir.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


   Class: oSharpgp2d12
   Purpose: Implements a Sharp GP2D12 IR module derived from an oA2D object.
   Author : Derek Jones
   Please send bug reports/enhancements to d.b.jones@verizon.net.

$Id: oir.h,v 1.2 2007/10/09 01:58:59 derek Exp $ 
*/

#ifndef _H_OIR_H
#define _H_OIR_H
#include <hardware/oa2d.h>
enum IR_TYPE { GP2Y0A02YK, GP2D12, GP2D120 };


class oIR : public oA2D
{
public:
  friend class IR_base;
  oIR(IOLINE channel, IR_TYPE type); 


  void callibrate(short c);         
  short value(void); 

  void status(JAUS_STATE istat);
protected:
  oIR(void);
  IR_TYPE _type;
  short   _callibrate;
private:
protected:
  JAUS_STATE _status; // status is available whether we have jaus defined or not.
};

#endif

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