<?xml version="1.0" encoding="utf-8" standalone="yes"?>
<DRIVER HEADER="Turtle.h">
   <REQUIRE HEADER="Servo.h"/>

   <FUNCTION DESC="Returns true if an object is detected within the distance at the specified head angle"> 
      <PARAMETER NAME="distance" TYPE="FLOAT" DESC="Range of detection test"/>
      <PARAMETER NAME="angle" TYPE="FLOAT" DESC="Angle value to write, from -90 to +90 degrees"/>
  	   <RETURN TYPE="BOOLEAN"/>
   </FUNCTION>     

   <METHOD NAME="setAngle" DESC="Sets the angle in degrees of the sonar head (0 is straight ahead)">
      <PARAMETER NAME="angle" TYPE="FLOAT" DESC="Angle value to write, from -90 to +90 degrees."/>
   </METHOD>
   <METHOD NAME="setRange" DESC="Sets the maximum range from the sonar head will listen for reflections.">
      <PARAMETER NAME="range" TYPE="FLOAT" DESC="Maximum range in cm (10-400)"/>
   </METHOD>
   <METHOD NAME="ping" DESC="Distance in centimeters to obstacle or -1 if nothing detected">
      <RETURN TYPE="FLOAT"/>
   </METHOD>

</DRIVER>
