mrm-us1.h

#pragma once
#include "Arduino.h"
#include <mrm-board.h>
 
#define CAN_ID_US1_0_IN 0x370
#define CAN_ID_US1_0_OUT 0x371
#define CAN_ID_US1_1_IN 0x372
#define CAN_ID_US1_1_OUT 0x373
#define CAN_ID_US1_2_IN 0x374
#define CAN_ID_US1_2_OUT 0x375
#define CAN_ID_US1_3_IN 0x376
#define CAN_ID_US1_3_OUT 0x377
#define CAN_ID_US1_4_IN 0x378
#define CAN_ID_US1_4_OUT 0x379
#define CAN_ID_US1_5_IN 0x37A
#define CAN_ID_US1_5_OUT 0x37B
#define CAN_ID_US1_6_IN 0x37C
#define CAN_ID_US1_6_OUT 0x37D
#define CAN_ID_US1_7_IN 0x37E
#define CAN_ID_US1_7_OUT 0x37F
 
#define MRM_US1_INACTIVITY_ALLOWED_MS 10000
 
 
class Mrm_us1 : public SensorBoard
{
    std::vector<uint16_t>* readings; // Analog readings of all sensors
 
    bool started(uint8_t deviceNumber);
    
public:
 
    Mrm_us1(Robot* robot = NULL, uint8_t maxNumberOfBoards = 4);
 
    ~Mrm_us1();
 
    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();
 
};