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/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2015 Intel Corporation.
*
* 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.
*/
#pragma once
#include <iostream>
#include <string>
#include <mraa/aio.h>
// EZ series is volts/512
#define MAXSONAREZ_RES 512
namespace upm {
/**
* @brief MaxSonar-EZ Family of Ultrasonic Rangers library
* @defgroup maxsonarez libupm-maxsonarez
* @ingroup seeed analog sound
*/
/**
* @library maxsonarez
* @sensor maxsonarez
* @comname LV-MaxSonar-EZ Ultrasonic Ranger
* @altname EZ1, EZ2, EZ3, EZ4
* @type sound
* @man sparkfun
* @web https://www.sparkfun.com/products/8502
* @con analog
*
* @brief API for the LV-MaxSonar-EZ Family of Ultrasonic Rangers
*
* Sensors of this family return an analog voltage corresponding to the
* distance of an object from the sensor in inches. They have a
* resolution of about 9.7 millivolts per inch with an analog reference voltage of 5.0 V. The
* differences between various versions (EZ1, EZ2, etc.) are
* related to the narrowness of the beam angle.
*
* This class supports these sensors with an analog input only.
*
* This driver was developed using an LV-MaxSonar-EZ3 ultrasonic ranger.
*
* @image html maxsonarez.jpg
* <br><em>LV-MaxSonar-EZ Ultrasonic Ranger image provided by SparkFun* under
* <a href=https://creativecommons.org/licenses/by-nc-sa/3.0/>
* CC BY-NC-SA-3.0</a>.</em>
*
* @snippet maxsonarez.cxx Interesting
*/
class MAXSONAREZ {
public:
/**
* MAXSONAREZ constructor
*
* @param pin Analog pin to use
* @param aref Analog reference voltage; default is 5.0 V
*/
MAXSONAREZ(int pin, float aref=5.0);
/**
* MAXSONAREZ destructor
*/
~MAXSONAREZ();
/**
* Gets the distance to the object in inches
*
* @return Distance to the object in inches
*/
int inches();
private:
mraa_aio_context m_aio;
float m_aref;
// ADC resolution
int m_aRes;
// computed volts per inch
float m_vI;
};
}
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