/home/jgoppert/Projects/ap/libraries/AP_RangeFinder/RangeFinder.h

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#ifndef RangeFinder_h
#define RangeFinder_h

#include <inttypes.h>

#define AP_RANGEFINDER_ORIENTATION_FRONT                  0, 10,  0
#define AP_RANGEFINDER_ORIENTATION_RIGHT                -10,  0,  0
#define AP_RANGEFINDER_ORIENTATION_BACK                   0,-10,  0
#define AP_RANGEFINDER_ORIENTATION_LEFT                  10,  0,  0
#define AP_RANGEFINDER_ORIENTATION_UP                     0,  0,-10
#define AP_RANGEFINDER_ORIENTATION_DOWN                   0,  0, 10
#define AP_RANGEFINDER_ORIENTATION_FRONT_RIGHT   -5, -5,  0
#define AP_RANGEFINDER_ORIENTATION_BACK_RIGHT    -5, -5,  0
#define AP_RANGEFINDER_ORIENTATION_BACK_LEFT      5, -5,  0
#define AP_RANGEFINDER_ORIENTATION_FRONT_LEFT     5,  5,  0

#define AP_RANGEFINDER_NUM_AVERAGES 4

class RangeFinder
{
  public:
    int _analogPort;  // the port to which the sensor is connected
        int _history_ptr;
        int _history[AP_RANGEFINDER_NUM_AVERAGES];
  public:
        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)
        int orientation_x, orientation_y, orientation_z;

        int filter(int latestValue);  // returns the average of the last AP_RANGEFINDER_NUM_AVERAGES values
        
        virtual void init(int analogPort);
    virtual void set_orientation(int x, int y, int z);
        virtual int read();   // read value from analog port and return distance in cm
};
#endif