scoutos / scout / sonar / src / sonar.h @ 0121ead7
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1 | 0121ead7 | bwasserm | /**
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2 | * Copyright (c) 2007 Colony Project
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3 | *
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4 | * Permission is hereby granted, free of charge, to any person
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5 | * obtaining a copy of this software and associated documentation
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6 | * files (the "Software"), to deal in the Software without
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7 | * restriction, including without limitation the rights to use,
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8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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9 | * copies of the Software, and to permit persons to whom the
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10 | * Software is furnished to do so, subject to the following
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11 | * conditions:
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12 | *
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13 | * The above copyright notice and this permission notice shall be
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14 | * included in all copies or substantial portions of the Software.
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15 | *
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16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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23 | * OTHER DEALINGS IN THE SOFTWARE.
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24 | **/
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25 | |||
26 | |||
27 | /**
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28 | * @file sonar.h
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29 | * @brief Contains sonar declarations and functions
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30 | *
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31 | * Contains functions and definitions for the use of
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32 | * sonar
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33 | *
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34 | * @author Colony Project, CMU Robotics Club
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35 | **/
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36 | |||
37 | /* Author: Ben Wasserman
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38 | */
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39 | |||
40 | #ifndef _SONAR_H_
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41 | #define _SONAR_H_
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42 | |||
43 | /** @brief Initialize the sonar in the library module **/
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44 | void sonar_init(void); |
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45 | /** @brief Initialize the sonar module and drivers **/
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46 | void sonar_module_init(void); |
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47 | /** @brief Read raw sonar data from the sonar module. Takes stepper
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48 | ** position and sensor to read **/
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49 | int sonar_read_raw(int direction, int sensor); |
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50 | /** @brief Wrapper for reading sonar data (angle in degrees and distance in
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51 | ** cm) **/
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52 | int sonar_read(int direction); |
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53 | /** @brief Subscribe function to sonar topic **/
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54 | void sonar_subscribe(int *function()); |
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55 | |||
56 | #endif |