/* ====================================================================
 * sonar.c
 *
 * Test the mindsensors sonar ranging device.
 *
 *    Motors on A and C
 *    Sonar on input 2
 *
 * Copyright: Gary Harkin
 *            2005
 *
 * =====================================================================
 */


#include <config.h>
#include <conio.h>
#include <unistd.h>
#include <tm.h>

#include <dsensor.h>
#include <dmotor.h>

#define SONARSENS       SENSOR_2

static void display_range (int r)
{
   cls();
   lcd_number (r, unsign, e0);
}

int main(int argc, char *argv[]) 
{
   int   x;

   /*
    * Set the sensor passive so that it can recalibrate.  Takes about 1 second.
    */
   ds_passive (&SONARSENS);
   sleep (2);

   /*
    * Now make it active and put it in percent mode for reading.
    */

   ds_active (&SONARSENS);
  
/* Testing code.  For hard surfaces, it calibrates to a raw value of about
   5 for a 6 inch separation.  It maxes out at about 80, but drops off
   in accuracy rapidly after about 6 feet. 
*/

   while (1)
   {
      x = LIGHT(SONARSENS);
  
      display_range (x);
      sleep (1);
   }
  
   return 0;
}