TCRT5000Ground.h

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// ----------------------------------------------------------------------------
//
// $Id$
//
// Copyright 2008, 2009, 2010, 2011, 2012  Antonio Franchi and Paolo Stegagno    
//
// This file is part of MIP.
//
// MIP is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// MIP is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with MIP. If not, see <http://www.gnu.org/licenses/>.
//
// Contact info: antonio.franchi@tuebingen.mpg.de stegagno@diag.uniroma1.it
//
// ----------------------------------------------------------------------------





#ifndef __TCRT5000Ground_H__
#define __TCRT5000Ground_H__

#ifdef MIP_HOST_APPLE
#include <applePatch.h>
#endif

#include <korebot/korebot.h>

#include <baselib.h>
#include <GroundSens.h>


#define TCRT5000Ground_DEBUG 1
#define TCRT5000Ground_RAW_DEBUG 1

using namespace std;

namespace MipResources{

/* @{ */

class TCRT5000GroundPar : public GroundSensPar{
 static const int _blackValue = 4000;
 static const int _whiteValue = 1300;
 
 public:
  TCRT5000GroundPar(){
   setLinRangeMax(_blackValue);
   setLinRangeMin(_whiteValue);
  }
  
  ~TCRT5000GroundPar(){
  }
  
};


class TCRT5000Ground : public GroundSens{
 private:
  int in, j;
  bool _val;
  char Buffer[1000];
  static const ResourcePlate _plate = RS_TCRT_RES; 
  
 protected:
  /* PROMEMO from abstract class */
  /* GroundSensPar *_par; */
  /* Scan         _scan; */
  knet_dev_t* dsPic;
  TCRT5000GroundPar *_tcrtPar; 
 
 public:
  ResourcePlate getPlate() const {
   return _plate;
  }
  
  TCRT5000Ground():GroundSens(){
   _tcrtPar = new TCRT5000GroundPar();
   _par   = _tcrtPar; /*fundamental to link the abstract _par to the implemented _playPar*/
   
   in = 0;
   if(TCRT5000Ground_DEBUG) cout << "...open dsPic " << endl;
   dsPic = knet_open( "Khepera3:dsPic" , KNET_BUS_I2C , 0 , NULL );
   if(TCRT5000Ground_DEBUG) cout << "dsPic = " << dsPic << endl;
   if(TCRT5000Ground_DEBUG) cout << "TCRT5000Ground: Infrared sensors initialized." << endl;
  }
  
  ~TCRT5000Ground(){
   delete _tcrtPar;
  };
  
  vector<int> _singleGroundScan();

  void _startScan(unsigned int num){
   cout << "TCRT5000Ground-Warning: Continuous scanning not implemented yet." << endl;
  }
  
  void _stopScan(){
   cout << "TCRT5000Ground-Warning: Continuous scanning not implemented yet." << endl;
  }
};


/* @} */

}; // end namespace MipResources{


#endif