RotationSensor.H

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//
// The contents of this file are subject to the Mozilla Public License
// Version 1.0 (the "License"); you may not use this file except in
// compliance with the License. You may obtain a copy of the License
// at http://www.mozilla.org/MPL/
// 
// Software distributed under the License is distributed on an "AS IS"
// basis, WITHOUT WARRANTY OF ANY KIND, either express or implied. See
// the License for the specific language governing rights and
// limitations under the License.
//
// This software was developed as part of the legOS project.
//
// Contributor: Pat Welch (legOS@mousebrains.com)

#ifndef _RotationSensor_H_
#define _RotationSensor_H_

#include <config.h>
#include <c++/Sensor.H>
#include <dsensor.h>

#if defined(CONF_DSENSOR) && defined(CONF_DSENSOR_ROTATION)

class RotationSensor : public Sensor {
public:
  RotationSensor(const Port port, int position = 0)
    : Sensor((Sensor::Port) port, true), 
    rsensor((port == S1) ? ROTATION_1 :
            (port == S2) ? ROTATION_2 :
            ROTATION_3)
#ifdef CONF_DSENSOR_VELOCITY
    ,
    rvelocity((port == S1) ? VELOCITY_1 :
              (port == S2) ? VELOCITY_2 :
              VELOCITY_3)
#endif // CONF_DSENSOR_VELOCITY
  {
    on();          
    pos(position); 
  }
  ~RotationSensor()
  {
    off(); 
  }

  void on() const {ds_rotation_on(&sensor);}

  void off() const {ds_rotation_off(&sensor);}

  void pos(int position) const {ds_rotation_set(&sensor, position);}
  
  int pos() const {return rsensor;}
#ifdef CONF_DSENSOR_VELOCITY

  int velocity() const {return rvelocity;}
#endif // CONF_DSENSOR_VELOCITY

private:
  volatile int& rsensor;
#ifdef CONF_DSENSOR_VELOCITY

  volatile int& rvelocity;
#endif // CONF_DSENSOR_VELOCITY
};

#else
#warning Enable CONF_DSENSOR && CONF_DSENSOR_ROTATION to use RotationSensor.H
#endif // CONF_DSENSOR, CONF_DSENSOR_ROTATION
#endif // _RotationSensor_H_

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