77 lines
2.3 KiB
C++
77 lines
2.3 KiB
C++
/*
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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 DistanceSensor : public ControllerInput<double> {
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public:
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/**
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* A distance sensor on a V5 port.
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*
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* ```cpp
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* auto ds = DistanceSensor(1);
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* auto filteredDistSensor = DistanceSensor(1, std::make_unique<MedianFilter<5>>());
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* ```
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*
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* @param iport The V5 port the device uses.
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* @param ifilter The filter to use for filtering the distance measurements.
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*/
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DistanceSensor(std::uint8_t iport,
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std::unique_ptr<Filter> ifilter = std::make_unique<PassthroughFilter>());
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virtual ~DistanceSensor() = default;
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/**
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* Get the current filtered sensor value in mm.
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*
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* @return The current filtered sensor value in mm.
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*/
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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.
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*
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* @return The same as [get](@ref okapi::DistanceSensor::get).
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*/
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double controllerGet() override;
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/**
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* Get the confidence in the distance reading. This value has a range of ``[0, 63]``. ``63`` means
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* high confidence, lower values imply less confidence. Confidence is only available when distance
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* is greater than ``200`` mm.
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*
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* @return The confidence value in the range ``[0, 63]``.
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*/
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std::int32_t getConfidence() const;
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/**
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* Get the current guess at relative object size. This value has a range of ``[0, 400]``. A 18" x
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* 30" grey card will return a value of approximately ``75`` in typical room lighting.
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*
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* @return The size value in the range ``[0, 400]`` or ``PROS_ERR`` if the operation failed,
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* setting errno.
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*/
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std::int32_t getObjectSize() const;
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/**
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* Get the object velocity in m/s.
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*
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* @return The object velocity in m/s.
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*/
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double getObjectVelocity() const;
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protected:
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std::uint8_t port;
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std::unique_ptr<Filter> filter;
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};
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} // namespace okapi
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