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95 lines
2.8 KiB
C++
95 lines
2.8 KiB
C++
/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2016 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#pragma once
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#include <string>
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#include <iostream>
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#include <stdlib.h>
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#include <unistd.h>
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#include "mb704x.h"
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namespace upm {
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/**
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* @brief API for the MB704x MaxSonar-WR Ultrasonic Ranger
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* @defgroup mb704x libupm-mb704x
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* @ingroup i2c sound
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*/
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/**
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* @library mb704x
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* @sensor mb704x
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* @comname MB704x MaxSonar-WR Ultrasonic Ranger
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* @altname MB7040 MB7047 MB7247
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* @type sound
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* @man maxbotix
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* @con i2c
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* @web http://www.maxbotix.com/Ultrasonic_Sensors/I2C_Distance_Sensors.htm
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*
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* @brief API for the MB704x MaxSonar-WR Ultrasonic Ranger
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*
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* This driver was tested with the MB704x MaxSonar-WR Ultrasonic
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* Ranger using the long distance, weather resistant horn.
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* Depending on your sensor type and horn, tanges from 20cm to
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* 750cm are possible.
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*
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* @snippet mb704x.cxx Interesting
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*/
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class MB704X {
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public:
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/**
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* Initialize a device context.
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*
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* @param bus Specify which the I2C bus to use. The default is 0.
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* @param addr Specify the I2C address to use. The default is 112.
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*/
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MB704X(unsigned int bus=0, unsigned int addr=112);
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/**
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* MB704X object destructor
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*/
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~MB704X();
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/**
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* Query the device for a range reading. The range will be
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* reported in centimeters (cm).
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*
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* @param dev Device context
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* @return Measured range, -1 on error. The range is reported in
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* centimeters (cm).
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*/
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int getRange();
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protected:
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// mb704x device context
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mb704x_context m_mb704x;
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private:
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};
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}
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