distanceSensor.hpp

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/*
 * This Source Code Form is subject to the terms of the Mozilla Public
 * License, v. 2.0. If a copy of the MPL was not distributed with this
 * file, You can obtain one at http://mozilla.org/MPL/2.0/.
 */
#pragma once
 
#include "api.h"
#include "okapi/api/control/controllerInput.hpp"
#include "okapi/api/filter/passthroughFilter.hpp"
#include <memory>
 
namespace okapi {
class DistanceSensor : public ControllerInput<double> {
  public:
  DistanceSensor(std::uint8_t iport,
                 std::unique_ptr<Filter> ifilter = std::make_unique<PassthroughFilter>());
 
  virtual ~DistanceSensor() = default;
 
  double get();
 
  double controllerGet() override;
 
  std::int32_t getConfidence() const;
 
  std::int32_t getObjectSize() const;
 
  double getObjectVelocity() const;
 
  protected:
  std::uint8_t port;
  std::unique_ptr<Filter> filter;
};
} // namespace okapi