/*
 * IntelliBrainGP2D12
 *
 * Copyright 2004 by RidgeSoft, LLC., PO Box 482, Pleasanton, CA  94566, U.S.A.
 * www.ridgesoft.com
 *
 * RidgeSoft grants you the right to use, modify, make derivative works and
 * redistribute this source file provided you do not remove this copyright notice.
 */
import com.ridgesoft.intellibrain.IntelliBrain;
import com.ridgesoft.io.Display;
import com.ridgesoft.robotics.RangeFinder;
import com.ridgesoft.robotics.sensors.SharpGP2D12;

/**
 * This class provides an example of the Sharp GP2D12 infrared
 * range finder attached to the IntelliBrain controller.
 *
 * The range finder must be connected to analog input A1.
 */
public class IntelliBrainGP2D12 {
    public static void main(String args[]) {
        // Use a try-catch block around all of the code to catch and report any exceptions.
		try {
			Display display = IntelliBrain.getLcdDisplay();
        	display.print(0, "GP2D12");
			display.print(1, "");

			// Instantiate the range finder object, giving the input port and the power
			// control port.  In this case power is always on, so the power control is
			// set to null.
			RangeFinder rangeFinder = new SharpGP2D12(IntelliBrain.getAnalogInput(1), null);

			// Loop forever.
			int noDataCount = 0;
			while (true) {
				rangeFinder.ping();									// Tell the sensor to sample
				float distance = rangeFinder.getDistanceInches();	// Read the distance measured by the range finder
				if (distance < 0.0f)
					display.print(1, "---");						// < 0.0 indicates no data or out of range
				else
					display.print(1, Integer.toString((int)(distance + 0.5)) + '"');	// display the distance
				Thread.sleep(500);
			}
		}
		catch (Throwable t) {
			t.printStackTrace();
		}
    }
}