mrm-ir-finder-can.h

#pragma once
#include "Arduino.h"
#include <mrm-board.h>
 
#define CAN_ID_IR_FINDER_CAN0_IN 0x0290
#define CAN_ID_IR_FINDER_CAN0_OUT 0x0291
#define CAN_ID_IR_FINDER_CAN1_IN 0x0292
#define CAN_ID_IR_FINDER_CAN1_OUT 0x0293
#define CAN_ID_IR_FINDER_CAN2_IN 0x0294
#define CAN_ID_IR_FINDER_CAN2_OUT 0x0295
#define CAN_ID_IR_FINDER_CAN3_IN 0x0296
#define CAN_ID_IR_FINDER_CAN3_OUT 0x0297
#define CAN_ID_IR_FINDER_CAN4_IN 0x0298
#define CAN_ID_IR_FINDER_CAN4_OUT 0x0299
#define CAN_ID_IR_FINDER_CAN5_IN 0x029A
#define CAN_ID_IR_FINDER_CAN5_OUT 0x029B
#define CAN_ID_IR_FINDER_CAN6_IN 0x029C
#define CAN_ID_IR_FINDER_CAN6_OUT 0x029D
#define CAN_ID_IR_FINDER_CAN7_IN 0x029E
#define CAN_ID_IR_FINDER_CAN7_OUT 0x029F
 
#define MRM_IR_FINDER_CAN_SENSOR_COUNT 12 // Number of IR receivers in each device.
 
//CANBus commands
#define COMMAND_IR_FINDER_CAN_SENDING_SENSORS_1_TO_3 0x04
#define COMMAND_IR_FINDER_CAN_SENDING_SENSORS_4_TO_6 0x05
#define COMMAND_IR_FINDER_CAN_SENDING_SENSORS_7_TO_9 0x06
#define COMMAND_IR_FINDER_CAN_SENDING_SENSORS_10_TO_12 0x08
#define COMMAND_IR_FINDER_CAN_SENDING_ANGLE_AND_DISTANCE 0x09
 
class Mrm_ir_finder_can : public SensorBoard
{
    std::vector<uint16_t[MRM_IR_FINDER_CAN_SENSOR_COUNT]>* readings; // Cumulative readings of all sensors
    int16_t angle;
    uint16_t distance;
    
public:
    
    Mrm_ir_finder_can(Robot* robot = 0, uint8_t maxNumberOfBoards = 1);
 
    ~Mrm_ir_finder_can();
 
    void add(char * deviceName = (char*)"");
 
    bool messageDecode(uint32_t canId, uint8_t data[8]);
    
    uint16_t reading(uint8_t receiverNumberInSensor, uint8_t deviceNumber = 0);
 
    void readingsPrint();
 
    void test();
 
    void testCalculated();
};