// -*- tab-width: 4; Mode: C++; c-basic-offset: 3; indent-tabs-mode: t -*-
/*
	AP_RangeFinder_MaxsonarXL.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.

	Sparkfun URL: http://www.sparkfun.com/products/9491
	datasheet: http://www.sparkfun.com/datasheets/Sensors/Proximity/XL-EZ0-Datasheet.pdf

	Sensor should be connected to one of the analog ports

	Variables:
		int raw_value : raw value from the sensor
		int distance : distance in cm
		int max_distance : maximum measurable distance (in cm)
		int min_distance : minimum measurable distance (in cm)

	Methods:
		read() : read value from analog port and returns the distance (in cm)

*/

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

// Constructor //////////////////////////////////////////////////////////////

AP_RangeFinder_MaxsonarXL::AP_RangeFinder_MaxsonarXL(AP_AnalogSource *source, FilterInt16 *filter):
		RangeFinder(source, filter),
		_scaler(AP_RANGEFINDER_MAXSONARXL_SCALER)
	{
    	max_distance = AP_RANGEFINDER_MAXSONARXL_MAX_DISTANCE;
		min_distance = AP_RANGEFINDER_MAXSONARXL_MIN_DISTANCE;
	}

// Public Methods //////////////////////////////////////////////////////////////
float AP_RangeFinder_MaxsonarXL::calculate_scaler(int sonar_type, float adc_refence_voltage)
{
    float type_scaler = 1.0;
	switch(sonar_type) {
		case AP_RANGEFINDER_MAXSONARXL:
		    type_scaler = AP_RANGEFINDER_MAXSONARXL_SCALER;
		    min_distance = AP_RANGEFINDER_MAXSONARXL_MIN_DISTANCE;
		    max_distance = AP_RANGEFINDER_MAXSONARXL_MAX_DISTANCE;
			break;
		case AP_RANGEFINDER_MAXSONARLV:
		    type_scaler = AP_RANGEFINDER_MAXSONARLV_SCALER;
		    min_distance = AP_RANGEFINDER_MAXSONARLV_MIN_DISTANCE;
		    max_distance = AP_RANGEFINDER_MAXSONARLV_MAX_DISTANCE;
			break;
		case AP_RANGEFINDER_MAXSONARXLL:
		    type_scaler = AP_RANGEFINDER_MAXSONARXLL_SCALER;
		    min_distance = AP_RANGEFINDER_MAXSONARXLL_MIN_DISTANCE;
		    max_distance = AP_RANGEFINDER_MAXSONARXLL_MAX_DISTANCE;
			break;
		case AP_RANGEFINDER_MAXSONARHRLV:
		    type_scaler = AP_RANGEFINDER_MAXSONARHRLV_SCALER;
		    min_distance = AP_RANGEFINDER_MAXSONARHRLV_MIN_DISTANCE;
		    max_distance = AP_RANGEFINDER_MAXSONARHRLV_MAX_DISTANCE;
			break;
    }
	_scaler = type_scaler * adc_refence_voltage / 5.0;
	return _scaler;
}