rover_hcsr04.hpp

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/*
 * Copyright (c) 2017 FH Dortmund and others
 * All rights reserved. This program and the accompanying materials
 * are made available under the terms of the Eclipse Public License v1.0
 * which accompanies this distribution, and is available at
 * http://www.eclipse.org/legal/epl-v10.html
 *
 * Description:
 *     RoverHCSR04 API - Interfaces for Rover ultrasonic sensor application development
 *     Header file
 *
 * Contributors:
 *    M.Ozcelikors <mozcelikors@gmail.com>, created RoverHCSR04 class 04.12.2017
 *
 */

#ifndef ROVERAPI_ROVER_HCSR04_HPP_
#define ROVERAPI_ROVER_HCSR04_HPP_

#include <roverapi/rover_sensor.hpp>

static const int TRIG0 = 7; //BCM-4   ->  WiringPi 7
static const int ECHO0 = 0; //BCM-17   ->  WiringPi 0

static const int TRIG1 = 1; //BCM-18   ->  WiringPi 1
static const int ECHO1 = 2; //BCM-27   ->  WiringPi 2

namespace rover
{
    class RoverHCSR04 : public RoverSensor
    {
        private:
            RoverSensorID_t sensorID;

            int trigPin;

            int echoPin;

            int ROVERHCSR04_SETUP_;

        public:
            explicit RoverHCSR04 (const RoverSensorID_t sensor_id);

            ~RoverHCSR04();

            void initialize (void);

            float read (void);

            void setTrigPin (const int trig_pin);

            int getTrigPin (void);

            void setEchoPin (const int echo_pin);

            int getEchoPin (void);

    };
}



#endif /* ROVERAPI_ROVER_HCSR04_HPP_ */