#ifndef AP_RangeFinder_SharpGP2Y_H
#define AP_RangeFinder_SharpGP2Y_H

#include "RangeFinder.h"

#define AP_RANGEFINDER_SHARPEGP2Y_MIN_DISTANCE 20
#define AP_RANGEFINDER_SHARPEGP2Y_MAX_DISTANCE 150

class AP_RangeFinder_SharpGP2Y : public RangeFinder
{
  public:
	AP_RangeFinder_SharpGP2Y(AP_AnalogSource *source, FilterInt16 *filter);
	int convert_raw_to_distance(int _raw_value) {
		if( _raw_value == 0 )
			return max_distance;
		else
			return 14500/_raw_value;
	}   // read value from analog port and return distance in cm

};
#endif
