device/SonarSensor.h

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

#ifndef SONARSENSOR_H_
#define SONARSENSOR_H_

#include "I2c.h"

namespace ecrobot
{
class SonarSensor: public I2c
// Sonar sensor supports various commands to interact with the NXT,
// thus it is derived from I2C to allow user to use send/receive I2c member functions
{
public:
        explicit SonarSensor(ePortS port);

        S16 getDistance(void) const;

        inline void get(U8 data[1]) const { receive(0x42, data, 1); }

};
}

#endif