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