bump_sensor.h

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#ifndef BUMP_SENSOR_H_
#define BUMP_SENSOR_H_

/******** Defines ********/

/*      default numbering scheme starts at front-right, increases CCW  */
#define BUMP_FL_BIT                             0x01
#define BUMP_LF_BIT                             0x02
#define BUMP_LB_BIT                             0x04
#define BUMP_BL_BIT                             0x08
#define BUMP_BR_BIT                             0x10
#define BUMP_RB_BIT                             0x20
#define BUMP_RF_BIT                             0x40
#define BUMP_FR_BIT                     0x80

/******** Functions ********/

/*
 * @brief Update bump sensors from the MSP communications message.
 *
 * bumpSensorBearing set to -1.
 * @param new_values the bump sensor value
 * @returns void
 */
void bumpSensorsUpdate(uint8 new_values);


uint8 bumpSensorsGetBits();


int16 bumpSensorsGetBearing();


uint8 bumpSensorsWhichHit();

//TODO: implement or delete?
void bumper_debug_print();

#endif /* BUMP_SENSOR_H_ */