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#ifndef _IR_SENSOR_H
#define _IR_SENSOR_H
#include "../../defines.h"
#include "../../robot.h"
#include "sensor.h"
class IR_Sensor : public Sensor
{
public:
IR_Sensor()
{
this->parent = NULL;
this->moduleId = 0;
this->intensityCorrection = 0;
}
IR_Sensor(uint32 sensorId)
{
this->parent = NULL;
this->moduleId = sensorId;
this->intensityCorrection = 0;
switch(sensorId)
{
case IO_SENSOR_IR_0_DEG:
this->channel = 0;
break;
case IO_SENSOR_IR_30_DEG:
this->channel = 1;
break;
case IO_SENSOR_IR_60_DEG:
this->channel = 2;
break;
case IO_SENSOR_IR_100_DEG:
this->channel = 3;
this->intensityCorrection = 80;
break;
case IO_SENSOR_IR_180_DEG:
this->channel = 4;
this->intensityCorrection = 70;
break;
case IO_SENSOR_IR_260_DEG:
this->channel = 5;
this->intensityCorrection = 70;
break;
case IO_SENSOR_IR_300_DEG:
this->channel = 6;
break;
case IO_SENSOR_IR_330_DEG:
this->channel = 7;
break;
default:
this->channel = 8;
break;
}
}
protected:
//Hardware
uint8 channel;
uint8 intensityCorrection;
public:
uint16 GetIRIntensity();
};
#endif
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