ev3cxx_ultrasonic_sensor.h

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#pragma once

#include <stdio.h>

#include "ev3api.h"
#include "ev3cxx_sensor.h"

namespace ev3cxx {
    
class UltrasonicSensor : public Sensor
{
public:
    UltrasonicSensor(SensorPort port) : Sensor(port, ULTRASONIC_SENSOR) {
        centimeters(); // By read one value immediate activate the sensor
    }

    int centimeters() {
        return ev3_ultrasonic_sensor_get_distance(m_port);
    }

    int millimeters() {
        return ev3_ultrasonic_sensor_get_raw_data(m_port, US_DIST_METRIC);
    }

    int inches() {
        return ev3_ultrasonic_sensor_get_raw_data(m_port, US_DIST_IMPERIAL) / 10;
    }

    int inchesLine() {
        return (ev3_ultrasonic_sensor_get_raw_data(m_port, US_DIST_IMPERIAL) * 12) / 10;
    }


    bool_t listen() {
        return ev3_ultrasonic_sensor_listen(m_port);
    }

}; // class UltrasonicSensor


} // namespace ev3cxx