#pragma once

#include "Sensors/TouchSensor.h"

namespace RoboidControl {
namespace Arduino {

class UltrasonicSensor : public TouchSensor {
 public:
  UltrasonicSensor(Participant* participant, unsigned char pinTrigger, unsigned char pinEcho);

  // parameters

  float touchDistance = 0.2f;

  // state

  float distance = 0;
  float GetDistance();

  virtual void Update(unsigned long currentTimeMs) override;

 protected:
  unsigned char pinTrigger = 0;
  unsigned char pinEcho = 0;
};

}  // namespace Arduino
}  // namespace RoboidControl