69 lines
1.8 KiB
C++
69 lines
1.8 KiB
C++
#pragma once
|
|
|
|
#include "Things/TouchSensor.h"
|
|
|
|
namespace RoboidControl {
|
|
namespace Arduino {
|
|
|
|
/// @brief An HC-SR04 ultrasonic distance sensor
|
|
class UltrasonicSensor : Thing {
|
|
public:
|
|
struct Configuration {
|
|
int triggerPin;
|
|
int echoPin;
|
|
};
|
|
|
|
/// @brief Setup an ultrasonic sensor
|
|
/// @param participant The participant to use
|
|
/// @param pinTrigger The pin number of the trigger signal
|
|
/// @param pinEcho The pin number of the echo signal
|
|
UltrasonicSensor(Configuration config, Participant* participant);
|
|
UltrasonicSensor(Configuration config, Thing* parent);
|
|
|
|
// parameters
|
|
|
|
/// @brief The distance at which the object is considered to be touched
|
|
// float touchDistance = 0.2f;
|
|
|
|
// state
|
|
|
|
/// @brief The last read distance
|
|
float distance = 0;
|
|
/// @brief erform an ultrasonic 'ping' to determine the distance to the
|
|
/// nearest object
|
|
/// @return the measured distance in meters to the nearest object
|
|
float GetDistance();
|
|
|
|
/// @copydoc RoboidControl::Thing::Update(unsigned long currentTimeMs)
|
|
virtual void Update(bool recursive = false) override;
|
|
|
|
protected:
|
|
/// @brief The pin number of the trigger signal
|
|
unsigned char pinTrigger = 0;
|
|
/// @brief The pin number of the echo signal
|
|
unsigned char pinEcho = 0;
|
|
|
|
public:
|
|
class TouchSensor;
|
|
};
|
|
|
|
#pragma region Touch sensor
|
|
|
|
class UltrasonicSensor::TouchSensor : public RoboidControl::TouchSensor {
|
|
public:
|
|
TouchSensor(UltrasonicSensor::Configuration config, Thing& parent);
|
|
TouchSensor(UltrasonicSensor::Configuration config, Thing* parent);
|
|
|
|
float touchDistance = 0.2f;
|
|
|
|
/// @copydoc RoboidControl::Thing::Update(unsigned long currentTimeMs)
|
|
virtual void Update(bool recursive = false) override;
|
|
|
|
protected:
|
|
UltrasonicSensor ultrasonic;
|
|
};
|
|
|
|
#pragma region Touch sensor
|
|
|
|
} // namespace Arduino
|
|
} // namespace RoboidControl
|