mrm-us.h

#pragma once
#include "Arduino.h"
#include <mrm-board.h>
 
#define CAN_ID_US0_IN 0x300
#define CAN_ID_US0_OUT 0x301
#define CAN_ID_US1_IN 0x302
#define CAN_ID_US1_OUT 0x303
#define CAN_ID_US2_IN 0x304
#define CAN_ID_US2_OUT 0x305
#define CAN_ID_US3_IN 0x306
#define CAN_ID_US3_OUT 0x307
#define CAN_ID_US4_IN 0x308
#define CAN_ID_US4_OUT 0x309
#define CAN_ID_US5_IN 0x30A
#define CAN_ID_US5_OUT 0x30B
#define CAN_ID_US6_IN 0x30C
#define CAN_ID_US6_OUT 0x30D
#define CAN_ID_US7_IN 0x30E
#define CAN_ID_US7_OUT 0x30F
 
#define MRM_US_ECHOES_COUNT 9
 
 
 
class Mrm_us : public SensorBoard
{
    std::vector<uint16_t[MRM_US_ECHOES_COUNT]>* readings; // Analog readings of all sensors
    
public:
 
    Mrm_us(Robot* robot = NULL, uint8_t maxNumberOfBoards = 4);
 
    ~Mrm_us();
 
    void add(char * deviceName = (char *)"");
 
    bool messageDecode(uint32_t canId, uint8_t data[8]);
 
    uint16_t reading(uint8_t echoNumber = 0, uint8_t sensorNumber = 0);
 
    void readingsPrint();
 
    void test();
 
};