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osonar.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: osonar.h,v 1.1.1.1 2006/05/11 05:22:41 derek Exp $ 

Version 1.1:
1. Added _distance and _value() method. (11/19/02)

*/
#ifndef _SONARDV_H 
#define _SONARDV_H 
#include <hardware/odio1.h>
#include <hardware/odio1_tpu.h>
#include <hardware/oencoder.h>
#include <hardware/opta.h>
#define INT_MILLIMETER int


#ifdef DOS
class oSonarDV
#else
class oSonarDV : public oPTA
#endif
{ 
public:
  oSonarDV(IOLINE channel, PORT port, IOLINE itpu);     
  void ping(void);        
  INT_MILLIMETER value(void); 
//  int maximum_sensor_range(void);
  #ifdef JAUS

  void status(JAUS_STATE istat);
  #endif
protected:
  oSonarDV(void);
  INT_MILLIMETER _value(void);
  JAUS_STATE _status; // status is available whether we have jaus defined or not.
private:
//  oDI1_TPU            _TPU;  /* tpu channel the PTA function is on */ 
  oEncoder              _TPU;  /* tpu channel the PTA function is on */ 
  IOLINE                _tpu_channel;   // oDIO objects don't track what channel their on.
  oDO1                  _control; /* set/reset pin for the sonar */
  INT_MILLIMETER                _distance;        // final result of ping.
}; 
#endif 

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