// -*- tab-width: 4; Mode: C++; c-basic-offset: 3; indent-tabs-mode: t -*-
/*
 *       AP_RangeFinder.cpp - Arduino Library for Sharpe GP2Y0A02YK0F
 *       infrared proximity sensor
 *       Code by Jose Julio and Randy Mackay. DIYDrones.com
 *
 *       This library is free software; you can redistribute it and/or
 *   modify it under the terms of the GNU Lesser General Public
 *   License as published by the Free Software Foundation; either
 *   version 2.1 of the License, or (at your option) any later version.
 *
 *       This has the basic functions that all RangeFinders need implemented
 */

// AVR LibC Includes
#if defined(ARDUINO) && ARDUINO >= 100
 #include "Arduino.h"
#else
 #include "WConstants.h"
#endif
#include "RangeFinder.h"



// Public Methods //////////////////////////////////////////////////////////////

void RangeFinder::set_orientation(int x, int y, int z)
{
    orientation_x = x;
    orientation_y = y;
    orientation_z = z;
}

// Read Sensor data - only the raw_value is filled in by this parent class
int RangeFinder::read()
{
    int temp_dist;

    raw_value = _analog_source->read();
    // convert analog value to distance in cm (using child implementation most likely)
    temp_dist = convert_raw_to_distance(raw_value);

    // ensure distance is within min and max
    temp_dist = constrain(temp_dist, min_distance, max_distance);

    distance = _mode_filter->apply(temp_dist);
    return distance;
}