device/Sensor.h

//
// Sensor.h
//
// Copyright 2009 by Takashi Chikamasa, Jon C. Martin and Robert W. Kramer
//

#ifndef SENSOR_H_
#define SENSOR_H_

#include "Port.h"

extern "C"
{
        #include "ecrobot_interface.h"
        #include "rtoscalls.h"
};

namespace ecrobot
{
class Sensor
{
public: 
        inline S16 get(void) const { return static_cast<S16>(sensor_adc(Sensor::getPort())); }

protected:
        inline ePortS getPort(void) const { return mPort; }

        explicit Sensor(ePortS port, ePower power=POWER_OFF): mPort(port)
        {
                AssertDeviceConstructor("Sensor Assert");
                nxt_avr_set_input_power(port, power);
        }

        virtual ~Sensor(void) { nxt_avr_set_input_power(mPort, POWER_OFF); }

private:
        ePortS mPort;
};
}

#endif