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_

/**

 * @defgroup rangefinder Rangefinder

 * @brief Functions for using the IR rangefinders

 * 

 * Functions for using the IR rangefinders.

 *

 * @{

 **/

/** @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 Initialize the rangefinders

 *

 * Initializes the rangefinders. This must be called before

 * range_read_distance.

 *

 * @see range_read_distance

 **/

void range_init(void);

/**

 * @brief Read the distance from a rangefinder

 *

 * Reads the distance measured by one of the rangefinders.

 * This distance is in arbitrary units.

 *

 * @param range_id the rangefinder to use. This should be one

 * of the constants IR1 - IR5.

 *

 * @return the distance measured by the rangefinder

 *

 * @see range_init

 **/

int range_read_distance(int range_id);

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

#endif