mrm-us-b.h

#pragma once
#include "Arduino.h"
#include <mrm-board.h>
 
#define CAN_ID_US_B0_IN 0x360
#define CAN_ID_US_B0_OUT 0x361
#define CAN_ID_US_B1_IN 0x362
#define CAN_ID_US_B1_OUT 0x363
#define CAN_ID_US_B2_IN 0x364
#define CAN_ID_US_B2_OUT 0x365
#define CAN_ID_US_B3_IN 0x366
#define CAN_ID_US_B3_OUT 0x367
#define CAN_ID_US_B4_IN 0x368
#define CAN_ID_US_B4_OUT 0x369
#define CAN_ID_US_B5_IN 0x36A
#define CAN_ID_US_B5_OUT 0x36B
#define CAN_ID_US_B6_IN 0x36C
#define CAN_ID_US_B6_OUT 0x36D
#define CAN_ID_US_B7_IN 0x36E
#define CAN_ID_US_B7_OUT 0x36F
 
#define MRM_US_B_INACTIVITY_ALLOWED_MS 10000
 
 
class Mrm_us_b : public SensorBoard
{
    std::vector<uint16_t>* readings; // Analog readings of all sensors
 
    bool started(uint8_t deviceNumber);
    
public:
 
    Mrm_us_b(Robot* robot = NULL, uint8_t maxNumberOfBoards = 4);
 
    ~Mrm_us_b();
 
    void add(char * deviceName = (char *)"");
 
    bool messageDecode(uint32_t canId, uint8_t data[8]);
 
    uint16_t reading(uint8_t sensorNumber = 0);
 
    void readingsPrint();
 
    void test();
 
};