Sonar.h

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// /**
//  * @file Sonar.h
//  * @brief TODO Library for mechatronic component sonar.
//  *
//  * The sonar module consists of a sonar sensor and a servo motor.
//  * Based on the deviation of the sonar to the focus point an error is
//  * given to the loop to turn the sonar to the right direction.
//  *
//  * The HC-SR04 has a range from 2cm to 3mm with a resolution form 2mm. Max freq. is 50Hz
//  * Voltage 5V
//  *
//  * @author Glenn Huber (glenn.patrick.huber@hsr.ch)
//  * @author Robert Paly (robert.paly@hsr.ch)
//  * @author Felix Nyffenegger (felix.nyffenegger@hsr.ch)
//  *
//  * @version 1.1 - Added Doxygen-Documentation  - Luca Mazzoleni (luca.mazzoleni@hsr.ch)  - 2019-03-20
//  * @version 1.0 - BA FTS FS 2018
//  *
//  * @date 2019-03-20
//  * @copyright Copyright (c) 2019
//  *
//  */

// #ifndef sonar_h
// #define sonar_h

// #include "Arduino.h"
// #include "Configuration.h"
// #include "LogConfiguration.h"
// #include "Modular.h"
// #include "NewPing.h"
// #include "Servo.h"

// /**
//  * @brief
//  *
//  */
// struct SonarState {
//     int obstacleDistance = SONAR_MAX_DISTANCE;  ///<
//     float sonarFactor = 1;                      ///<
//     bool detachServo = false;                   ///<
//     bool isAttached = false;                    ///<
// };

// /**
//  * @brief
//  *
//  */
// class Sonar : public Component {
//    public:
//     /**
//      * @brief Construct a new Sonar object
//      *
//      * @param servoPin -
//      * @param triggerPin -
//      * @param echoPin -
//      * @param maxDistance -
//      * @param min_Error -
//      * @param max_Error -
//      * @param min_TurnAngle -
//      * @param max_TurnAngle -
//      */
//     Sonar(int servoPin, int triggerPin, int echoPin, int maxDistance, int min_Error, int max_Error, int min_TurnAngle, int max_TurnAngle);

//     /**
//      * @brief
//      *
//      * @param state -
//      * @param directionError -
//      * @param servoActive -
//      */
//     void loop(SonarState *state, int directionError, bool servoActive);

//     /**
//      * @brief Gets distance to next obstacle in front of the vehicle
//      *
//      * @return int - return distance in cm
//      */
//     int getDistanceToObstacle();

//     /**
//      * @brief Correct the sonar-orientation and turn it into the drivingdirection
//      *
//      * Take the direction error and maps it into an turnangle (180 - 0 degree).
//      * Afterwards realigne the sonar so it faces the path correctly
//      *
//      * @param directionError - deviation from the path -5(left) - +5(right)
//      *
//      * @todo smoother position change
//      */
//     void turnSonar(int directionError);

//     /**
//      * @brief
//      *
//      * @param state -
//      * @todo for what?? ->motorControl
//      */
//     void calculateSonarFactor(SonarState *state);

//     /**
//      * @brief Testfunction for Sonar-Class
//      *
//      * 0 - run all tests \n
//      * 1 - run test for servo right\n
//      * 2 - run test for obstacle detection \n
//      *
//      * @param test - Choose which test to run
//      */
//     void Test(const int test);

//    protected:
//     NewPing *sonar;    ///<
//     Servo sonarServo;  ///<
//     int minError;      ///<
//     int maxError;      ///<
//     int minTurnAngle;  ///<
//     int maxTurnAngle;  ///<
//     int _servoPin;     ///<
// };

// #endif