Add API to get light sensor signals

examples/bumper_example.cpp

@@ -0,0 +1,73 @@
+#include "create/create.h"
+
+int main(int argc, char** argv) {
+  std::string port = "/dev/ttyUSB0";
+  int baud = 115200;
+  create::RobotModel model = create::CREATE_2;
+
+  create::Create* robot = new create::Create(model);
+
+  // Attempt to connect to Create
+  if (robot->connect(port, baud))
+    std::cout << "Successfully connected to Create" << std::endl;
+  else {
+    std::cout << "Failed to connect to Create on port " << port.c_str() << std::endl;
+    return 1;
+  }
+
+  robot->setMode(create::MODE_FULL);
+
+  uint16_t signals[6];
+  bool contact_bumpers[2];
+  bool light_bumpers[6];
+
+  // Stop program when clean button is pressed
+  while (!robot->isCleanButtonPressed()) {
+    signals[0] = robot->getLightSignalLeft();
+    signals[1] = robot->getLightSignalFrontLeft();
+    signals[2] = robot->getLightSignalCenterLeft();
+    signals[3] = robot->getLightSignalCenterRight();
+    signals[4] = robot->getLightSignalFrontRight();
+    signals[5] = robot->getLightSignalRight();
+
+    contact_bumpers[0] = robot->isLeftBumper();
+    contact_bumpers[1] = robot->isRightBumper();
+
+    light_bumpers[0] = robot->isLightBumperLeft();
+    light_bumpers[1] = robot->isLightBumperFrontLeft();
+    light_bumpers[2] = robot->isLightBumperCenterLeft();
+    light_bumpers[3] = robot->isLightBumperCenterRight();
+    light_bumpers[4] = robot->isLightBumperFrontRight();
+    light_bumpers[5] = robot->isLightBumperRight();
+
+    // print signals from left to right
+    std::cout << "[ " << signals[0] << " , "
+                      << signals[1] << " , "
+                      << signals[2] << " , "
+                      << signals[3] << " , "
+                      << signals[4] << " , "
+                      << signals[5]
+              << " ]" << std::endl;
+    std::cout << "[ " << light_bumpers[0] << " , "
+                      << light_bumpers[1] << " , "
+                      << light_bumpers[2] << " , "
+                      << light_bumpers[3] << " , "
+                      << light_bumpers[4] << " , "
+                      << light_bumpers[5]
+              << " ]" << std::endl;
+    std::cout << "[ " << contact_bumpers[0] << " , "
+                      << contact_bumpers[1]
+              << " ]" << std::endl;
+    std::cout << std::endl;
+
+    usleep(1000 * 100); //10hz
+  }
+
+  std::cout << "Stopping Create" << std::endl;
+
+  // Disconnect from robot
+  robot->disconnect();
+  delete robot;
+
+  return 0;
+}