Pololu3piPlus32U4BumpSensors.h

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// Copyright (C) Pololu Corporation.  See www.pololu.com for details.
 
 
#pragma once
 
#include <Arduino.h>
 
namespace Pololu3piPlus32U4
{
 
enum BumpSide {
  BumpLeft  = 0,
 
  BumpRight = 1
};
 
class BumpSensors
{
  public:
    static const uint16_t defaultTimeout = 4000;
 
    static const uint8_t emitterPin = 11;
    static const uint8_t bumpLeftPin = 4;
    static const uint8_t bumpRightPin = 5;
 
    void calibrate(uint8_t count = 50);
 
    uint8_t read();
 
    bool leftChanged()    { return (pressed[BumpLeft] ^ last[BumpLeft]) != 0; }
 
 
    bool rightChanged()   { return (pressed[BumpRight] ^ last[BumpRight]) != 0; }
 
    bool leftIsPressed()  { return pressed[BumpLeft]; }
 
    bool rightIsPressed() { return pressed[BumpRight]; }
 
    uint16_t marginPercentage = 50;
 
    uint16_t baseline[2];
 
    uint16_t threshold[2];
 
    uint16_t sensorValues[2];
 
    uint16_t timeout = defaultTimeout;
 
  private:
    void readRaw();
    uint8_t pressed[2];
    uint8_t last[2];
};
 
}