nibocc/floor.hpp

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/*  BSD-License:

Copyright (c) 2007 by Nils Springob, nicai-systems, Germany

All rights reserved.

Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:

  * Redistributions of source code must retain the above copyright notice,
    this list of conditions and the following disclaimer.
  * Redistributions in binary form must reproduce the above copyright notice,
    this list of conditions and the following disclaimer in the documentation
    and/or other materials provided with the distribution.
  * Neither the name nicai-systems nor the names of its contributors may be
    used to endorse or promote products derived from this software without
    specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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*/

#ifndef NIBOCC_FLOOR_HPP_
#define NIBOCC_FLOOR_HPP_
#if defined(NIBOCC_USE_FLOOR) || defined (DOXYGEN)

#include <stdint.h>
#include "nibo/floor.h"

namespace nibocc {

class Floor
{
  public:
    
    enum {
      LINE_LEFT     = ::LINE_LEFT,
      LINE_RIGHT    = ::LINE_RIGHT,
      FLOOR_LEFT    = ::FLOOR_LEFT,
      FLOOR_RIGHT   = ::FLOOR_RIGHT
    };


    static void enable_ir() {floor_enable_ir();}

    static void disable_ir() {floor_disable_ir();}

    static const int SENS_DALAY_US = FLOOR_SENS_DALAY_US;

    static uint16_t getAbsolute(uint8_t index) {return ::floor_absolute[index];}

    static uint16_t getRelative(uint8_t index) {return ::floor_relative[index];}

    static void init() {::floor_init();}

    static void update() {::floor_update();}

    static void calibrateBlack() {::floor_calibrateBlack();}

    static void calibrateWhite() {::floor_calibrateWhite();}

    static void readPersistent() {::floor_readPersistent();}

    static void writePersistent() {::floor_writePersistent();}

};

} // namespace
#endif // NIBO_USE_FLOOR
#endif // NIBO_FLOOR_H_