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scoutos / scout / sonar / src / sonar.h @ 0121ead7

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/**
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 * Copyright (c) 2007 Colony Project
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 * 
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 * Permission is hereby granted, free of charge, to any person
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 * obtaining a copy of this software and associated documentation
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 * files (the "Software"), to deal in the Software without
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 * restriction, including without limitation the rights to use,
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 * copy, modify, merge, publish, distribute, sublicense, and/or sell
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 * copies of the Software, and to permit persons to whom the
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 * Software is furnished to do so, subject to the following
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 * 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
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 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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 * OTHER DEALINGS IN THE SOFTWARE.
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 **/
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/**
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 * @file sonar.h
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 * @brief Contains sonar declarations and functions
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 * 
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 * Contains functions and definitions for the use of
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 * sonar
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 *
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 * @author Colony Project, CMU Robotics Club
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 **/
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/* Author: Ben Wasserman
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*/
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#ifndef _SONAR_H_
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#define _SONAR_H_
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/** @brief Initialize the sonar in the library module **/
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void sonar_init(void);
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/** @brief Initialize the sonar module and drivers **/
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void sonar_module_init(void);
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/** @brief Read raw sonar data from the sonar module. Takes stepper
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** position and sensor to read **/
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int sonar_read_raw(int direction, int sensor);
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/** @brief Wrapper for reading sonar data (angle in degrees and distance in
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** cm) **/
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int sonar_read(int direction);
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/** @brief Subscribe function to sonar topic **/
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void sonar_subscribe(int *function());
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#endif