//
// FILE: sonar.h
// programmer: Dave Hershberger
// purpose:    sonar interface object for Clem
// date started: 1-9-96

#ifndef SONAR_H
#define SONAR_H

#include "timer.h"

// TICKS_PER_SONAR_FIRE is the number of timer ticks between sonar firings.
// the value of 8 here should give 35-40 ms.
#define TICKS_PER_SONAR_FIRE 8

#define NUM_ULTRASONICS 24

class Sonar
{
 protected:
  static Sonar *me;
  static int new_values_available;
  static float latest_values[NUM_ULTRASONICS];
  static int pattern_index;
  static int firing_on;
  static long int pattern[8];
  friend void sonar_timer_callback(double elapsed_time);
 public:
  Sonar();
  virtual void start(); // initialize and start ultrasonics firing
  virtual int new_data_available() { return new_values_available; }
  virtual void read(float *data); // read ultrasonic values
  virtual void stop(); // stop ultrasonic firing and shut them down
};

#endif				// SONAR_H