LaserProximitySensor.h

 
#pragma once
 
#include <string>
 
#include <units/length.h>
 
#include "valkyrie/sensors/DebounceSensor.h"
#include "valkyrie/sensors/LidarSensor.h"
 
namespace valor {
 
struct LaserProximityData {
    units::millimeter_t distance;  
    bool triggered;                
};
 
class LaserProximitySensor : public BaseSensor<LaserProximityData>, public LidarSensor, public DebounceSensor {
   public:
    explicit LaserProximitySensor(frc::TimedRobot& robot);
 
    void setThresholdDistance(units::millimeter_t threshold);
 
    void reset() override;
 
    LaserProximityData get() { return BaseSensor<LaserProximityData>::get(); }
 
    void setGetter(std::function<units::millimeter_t()> getter);
 
   protected:
    LaserProximitySensor();
 
    void calculate() override;
 
    void refresh() override;
 
   private:
    units::millimeter_t thresholdDistance;  
};
 
}  // namespace valor