DigitalInput.h

#pragma once
 
#include "Things/RelativeEncoder.h"
#include "Things/TouchSensor.h"
 
namespace RoboidControl {
namespace Arduino {
 
class DigitalInput : public Thing {
 public:
  //DigitalInput(Participant* participant, unsigned char pin);
  // DigitalInput(Thing* parent, unsigned char pin);
  DigitalInput(unsigned char pin, Thing* parent);
 
  bool isHigh = false;
  bool isLow = false;
 
  virtual void Update(bool recursive = false) override;
 
 protected:
  unsigned char pin = 0;
 
 public:
  class TouchSensor;
  class RelativeEncoder;
};
 
#pragma region Touch sensor
 
class DigitalInput::TouchSensor : public RoboidControl::TouchSensor {
 public:
  TouchSensor(unsigned char pin, Thing* parent);
 
  virtual void Update(bool recurse = false) override;
 
 protected:
  DigitalInput digitalInput;
};
 
#pragma endregion Touch sensor
 
#pragma region Incremental encoder
 
class DigitalInput::RelativeEncoder : public RoboidControl::RelativeEncoder {
 public:
  struct Configuration {
    unsigned char pin;
    unsigned char pulsesPerRevolution;
  };
 
  RelativeEncoder(Configuration config, Thing* parent = Thing::LocalRoot());
 
  unsigned char pulsesPerRevolution;
 
  float pulseFrequency = 0;
 
  virtual void Update(bool recurse = false) override;
 
 protected:
  DigitalInput digitalInput;
 
  int interruptIx = 0;
 
  static int interruptCount;
 
  volatile static int pulseCount0;
  static void PulseInterrupt0();
 
  volatile static int pulseCount1;
  static void PulseInterrupt1();
 
  int GetPulseCount();
  long netPulseCount = 0;
  unsigned long lastUpdateTime = 0;
 
 private:
  void Start();
};
 
#pragma endregion Incremental encoder
 
}  // namespace Arduino
}  // namespace RoboidControl