SRF08.hpp

Go to the documentation of this file.

 
#pragma once
 
#include <stdint.h> // NOLINT(modernize-deprecated-headers)
 
#include "../../../../runtime/Runtime.hpp"
#include "../../DistanceSensor.hpp"
 
namespace smartcarlib
{
namespace constants
{
namespace srf08
{
const uint8_t kDefaultIterations = 5;
const uint8_t kDefaultPingDelay  = 70;
} // namespace srf08
} // namespace constants
} // namespace smartcarlib
 
class SRF08 : public DistanceSensor
{
public:
    SRF08(Runtime& runtime, uint8_t address);
 
    /* Check `DistanceSensor` interface for documentation */
    unsigned int getDistance() override;
 
    /* Check `DistanceSensor` interface for documentation */
    unsigned int getMedianDistance(uint8_t iterations
                                   = smartcarlib::constants::srf08::kDefaultIterations) override;
 
    void setGain(uint8_t gain);
 
    void setRange(uint8_t range);
 
    unsigned long setPingDelay(unsigned long milliseconds
                               = smartcarlib::constants::srf08::kDefaultPingDelay);
 
    uint8_t getLightReading();
 
    uint8_t changeAddress(uint8_t newAddress);
 
private:
    uint8_t mAddress;
    Runtime& mRuntime;
    unsigned long mPingDelay;
    bool mAttached;
 
    void attach();
    void measureDistance();
};