72 lines
2.6 KiB
C++
72 lines
2.6 KiB
C++
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/*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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#pragma once
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#include "api.h"
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#include "okapi/api/control/controllerInput.hpp"
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#include "okapi/api/filter/passthroughFilter.hpp"
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#include <memory>
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namespace okapi {
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class ADIUltrasonic : public ControllerInput<double> {
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public:
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/**
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* An ultrasonic sensor in the ADI (3-wire) ports.
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*
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* ```cpp
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* auto ultra = ADIUltrasonic('A', 'B');
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* auto filteredUltra = ADIUltrasonic('A', 'B', std::make_unique<MedianFilter<5>>());
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* ```
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*
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* @param iportPing The port connected to the orange OUTPUT cable. This must be in port ``1``,
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* ``3``, ``5``, or ``7`` (``A``, ``C``, ``E``, or ``G``).
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* @param iportEcho The port connected to the yellow INPUT cable. This must be in the next highest
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* port following iportPing.
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* @param ifilter The filter to use for filtering the distance measurements.
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*/
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ADIUltrasonic(std::uint8_t iportPing,
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std::uint8_t iportEcho,
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std::unique_ptr<Filter> ifilter = std::make_unique<PassthroughFilter>());
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/**
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* An ultrasonic sensor in the ADI (3-wire) ports.
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*
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* ```cpp
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* auto ultra = ADIUltrasonic({1, 'A', 'B'});
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* auto filteredUltra = ADIUltrasonic({1, 'A', 'B'}, std::make_unique<MedianFilter<5>>());
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* ```
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*
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* @param iports The ports the ultrasonic is plugged in to in the order ``{smart port, ping port,
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* echo port}``. The smart port is the smart port number (``[1, 21]``). The ping port is the port
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* connected to the orange OUTPUT cable. This must be in port ``1``, ``3``, ``5``, or ``7``
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* (``A``, ``C``, ``E``, or ``G``). The echo port is the port connected to the yellow INPUT cable.
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* This must be in the next highest port following the ping port.
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* @param ifilter The filter to use for filtering the distance measurements.
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*/
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ADIUltrasonic(std::tuple<std::uint8_t, std::uint8_t, std::uint8_t> iports,
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std::unique_ptr<Filter> ifilter = std::make_unique<PassthroughFilter>());
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virtual ~ADIUltrasonic();
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/**
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* Returns the current filtered sensor value.
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*
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* @return current value
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*/
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virtual double get();
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/**
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* Get the sensor value for use in a control loop. This method might be automatically called in
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* another thread by the controller. Calls get().
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*/
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virtual double controllerGet() override;
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protected:
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pros::c::ext_adi_ultrasonic_t ultra;
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std::unique_ptr<Filter> filter;
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};
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} // namespace okapi
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