CANRangeSensor.h

 
#pragma once
 
#include <string>
#include <memory>
 
#include <ctre/phoenix6/core/CoreCANrange.hpp>
#include <frc/TimedRobot.h>
#include <units/length.h>
 
#include "LaserProximitySensor.h"
 
namespace valor {
 
class CANrangeSensor : public LaserProximitySensor, public ctre::phoenix6::hardware::core::CoreCANrange {
   public:
    CANrangeSensor(frc::TimedRobot& robot, int deviceId, std::string canbus, units::millimeter_t defaultDistance);
 
    bool isConnected();
 
    units::millimeter_t getDefaultDistance();
 
   private:
    bool isFaulting();
 
    units::millimeter_t defaultDistance;  
};
 
}  // namespace valor