Improved touch sensor

Arduino/Things/DigitalInput.cpp

@@ -29,7 +29,7 @@ DigitalInput::TouchSensor::TouchSensor(unsigned char pin, Thing* parent)
     : RoboidControl::TouchSensor(parent), digitalInput(pin, parent) {}
 
 void DigitalInput::TouchSensor::Update(bool recursive) {
-  this->touchedSomething = digitalInput.isLow;
+  this->internalTouch = digitalInput.isLow;
 }
 
 #pragma endregion Touch sensor
@@ -98,8 +98,8 @@ void DigitalInput::RelativeEncoder::Update(bool recursive) {
   this->pulseFrequency = pulseCount / timeStep;
   this->rotationSpeed = pulseFrequency / pulsesPerRevolution;
 
-  std::cout << "pulses: " << pulseCount << " per second " << pulseFrequency
-            << " timestep " << timeStep << std::endl;
+  // std::cout << "pulses: " << pulseCount << " per second " << pulseFrequency
+  //           << " timestep " << timeStep << std::endl;
 
   this->lastUpdateTime = currentTimeMs;
 }

Arduino/Things/UltrasonicSensor.cpp

@@ -65,7 +65,7 @@ UltrasonicSensor::TouchSensor::TouchSensor(Configuration config, Thing* parent)
 void UltrasonicSensor::TouchSensor::Update(bool recursive) {
   RoboidControl::TouchSensor::Update(recursive);
   this->ultrasonic.Update(false);
-  this->touchedSomething |= (this->ultrasonic.distance > 0 &&
+  this->internalTouch |= (this->ultrasonic.distance > 0 &&
                             this->ultrasonic.distance <= this->touchDistance);
 }
 

Things/TouchSensor.cpp

@@ -7,8 +7,12 @@ TouchSensor::TouchSensor(Thing* parent) : Thing(parent) {
   this->name = "Touch sensor";
 }
 
+bool TouchSensor::IsTouching() {
+  return this->internalTouch || this->externalTouch;
+}
+
 void TouchSensor::PrepareForUpdate() {
-  this->touchedSomething = this->externalTouch;
+  //this->internalTouch = this->externalTouch;
 }
 
 void TouchSensor::Update(bool recursive) {
@@ -16,7 +20,8 @@ void TouchSensor::Update(bool recursive) {
 }
 
 int TouchSensor::GenerateBinary(char* bytes, unsigned char* ix) {
-  bytes[(*ix)++] = this->touchedSomething ? 1 : 0;
+  std::cout << "BinaryMsg Touch " << this->internalTouch << std::endl;
+  bytes[(*ix)++] = this->internalTouch ? 1 : 0;
   return 1;
 }
 

Things/TouchSensor.h

@@ -16,7 +16,7 @@ class TouchSensor : public Thing {
 
   /// @brief Value which is true when the sensor is touching something, false
   /// otherwise
-  bool touchedSomething = false;
+  bool IsTouching();
 
   virtual void PrepareForUpdate() override;
   virtual void Update(bool recursive) override;
@@ -30,6 +30,7 @@ class TouchSensor : public Thing {
   virtual void ProcessBinary(char* bytes) override;
 protected:
   bool externalTouch = false;
+  bool internalTouch = false;
 };
 
 }  // namespace RoboidControl

examples/BB2B.cpp

@@ -27,10 +27,10 @@ int main() {
   while (true) {
     // The left wheel turns forward when nothing is touched on the right side
     // and turn backward when the roboid hits something on the right
-    float leftWheelSpeed = (touchRight.touchedSomething) ? -600.0f : 600.0f;
+    float leftWheelSpeed = (touchRight.internalTouch) ? -600.0f : 600.0f;
     // The right wheel does the same, but instead is controlled by
     // touches on the left side
-    float rightWheelSpeed = (touchLeft.touchedSomething) ? -600.0f : 600.0f;
+    float rightWheelSpeed = (touchLeft.internalTouch) ? -600.0f : 600.0f;
     // When both sides are touching something, both wheels will turn backward
     // and the roboid will move backwards
     bb2b.SetWheelVelocity(leftWheelSpeed, rightWheelSpeed);