From 4a0f8ad72b3cc23fdffa8312d086516c64e077d2 Mon Sep 17 00:00:00 2001
From: Jacob Perron <jacobmperron@gmail.com>
Date: Mon, 26 Aug 2019 20:36:50 -0700
Subject: [PATCH] Add API for getting left and right wheeldrop

Signed-off-by: Jacob Perron <jacobmperron@gmail.com>
---
 include/create/create.h | 10 ++++++++++
 src/create.cpp          | 20 ++++++++++++++++++++
 2 files changed, 30 insertions(+)

diff --git a/include/create/create.h b/include/create/create.h
index 1e4d262..40196c4 100644
--- a/include/create/create.h
+++ b/include/create/create.h
@@ -336,6 +336,16 @@ namespace create {
        */
       bool isWheeldrop() const;
 
+      /**
+       * \return true if a left wheeldrop is detected, false otherwise.
+       */
+      bool isLeftWheeldrop() const;
+
+      /**
+       * \return true if a right wheeldrop is detected, false otherwise.
+       */
+      bool isRightWheeldrop() const;
+
       /**
        * \return true if left bumper is pressed, false otherwise.
        */
diff --git a/src/create.cpp b/src/create.cpp
index eacc608..8279e2a 100644
--- a/src/create.cpp
+++ b/src/create.cpp
@@ -597,6 +597,26 @@ namespace create {
     }
   }
 
+  bool Create::isLeftWheeldrop() const {
+    if (data->isValidPacketID(ID_BUMP_WHEELDROP)) {
+      return (GET_DATA(ID_BUMP_WHEELDROP) & 0x08) != 0;
+    }
+    else {
+      CERR("[create::Create] ", "Wheeldrop sensor not supported!");
+      return false;
+    }
+  }
+
+  bool Create::isRightWheeldrop() const {
+    if (data->isValidPacketID(ID_BUMP_WHEELDROP)) {
+      return (GET_DATA(ID_BUMP_WHEELDROP) & 0x04) != 0;
+    }
+    else {
+      CERR("[create::Create] ", "Wheeldrop sensor not supported!");
+      return false;
+    }
+  }
+
   bool Create::isLeftBumper() const {
     if (data->isValidPacketID(ID_BUMP_WHEELDROP)) {
       return (GET_DATA(ID_BUMP_WHEELDROP) & 0x02) != 0;