UltrasonicSensor.h

#pragma once
 
#include "Things/TouchSensor.h"
 
namespace RoboidControl {
namespace Arduino {
 
class UltrasonicSensor : public TouchSensor {
 public:
  // Inherit all constructors
  //using TouchSensor::TouchSensor;
 
  UltrasonicSensor(Participant* participant,
                   unsigned char pinTrigger,
                   unsigned char pinEcho);
  UltrasonicSensor(Thing* parent,
                   unsigned char pinTrigger,
                   unsigned char pinEcho);
 
  // parameters
 
  float touchDistance = 0.2f;
 
  // state
 
  float distance = 0;
  float GetDistance();
 
  virtual void Update(unsigned long currentTimeMs,
                      bool recursive = false) override;
 
 protected:
  unsigned char pinTrigger = 0;
  unsigned char pinEcho = 0;
};
 
}  // namespace Arduino
}  // namespace RoboidControl