Colony

/**

 * Copyright (c) 2007 Colony Project

 *

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 *

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 *

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file rangefinder.h

 * @brief Contains rangefinder declarations and functions

 *

 * Contains functions and definitions for the use of

 * IR rangefinders.

 *

 * @author Colony Project, CMU Robotics Club

 **/

#ifndef _RANGEFINDER_H_

#define _RANGEFINDER_H_

/**

 * @addtogroup rangefinder

 * @{

 **/

/** @brief IR Rangefinder 1 **/

#define IR1 6

/** @brief IR Rangefinder 2 **/

#define IR2 5

/** @brief IR Rangefinder 3 **/

#define IR3 4

/** @brief IR Rangefinder 4 **/

#define IR4 3

/** @brief IR Rangefinder 5 **/

#define IR5 2

/** @brief smallest meaningful rangefinder reading (logarithmic scale) **/

#define MIN_IR_ADC8 20

/** @brief largest meaningful rangefinder reading (logarithmic scale) **/

#define MAX_IR_ADC8 133

/** @brief Initialize the rangefinders **/

void range_init(void);

/** @brief Read the distance from a rangefinder **/

int range_read_distance(int range_id);

/** @brief Convert logarithmic-scale distance readings to a linear scale **/

int linearize_distance(int value);

/** @} **/ //end addtogroup

#endif