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#ifndef __AP_RangeFinder_SharpGP2Y_H__
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#define __AP_RangeFinder_SharpGP2Y_H__
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#include "RangeFinder.h"
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#define AP_RANGEFINDER_SHARPEGP2Y_MIN_DISTANCE 20
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#define AP_RANGEFINDER_SHARPEGP2Y_MAX_DISTANCE 150
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class AP_RangeFinder_SharpGP2Y : public RangeFinder
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{
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public:
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AP_RangeFinder_SharpGP2Y(AP_HAL::AnalogSource *source, FilterInt16 *filter);
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int16_t convert_raw_to_distance(int16_t raw_value) {
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if (raw_value == 0) {
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return max_distance;
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} else {
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return 14500/raw_value;
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}
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} // read value from analog port and return distance in cm
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};
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#endif
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