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# device/SonarSensor.h

    00001 //
    00002 // SonarSensor.h
    00003 //
    00004 // Copyright 2009 by Takashi Chikamasa, Jon C. Martin and Robert W. Kramer
    00005 //
    00006
    00007 #ifndef SONARSENSOR_H_
    00008 #define SONARSENSOR_H_
    00009
    00010 #include "I2c.h"
    00011
    00012 namespace ecrobot
    00013 {
    00052 class SonarSensor: public I2c
    00053 // Sonar sensor supports various commands to interact with the NXT,
    00054 // thus it is derived from I2C to allow user to use send/receive I2c member functions
    00055 {
    00056 public:
    00066         explicit SonarSensor(ePortS port);
    00067
    00073         S16 getDistance(void) const;
    00074
    00082         inline void get(U8 data[1]) const { receive(0x42, data, 1); }
    00083
    00084 };
    00085 }
    00086
    00087 #endif