compAIR/libcreate
compAIR/libcreate
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Add API to get light sensor signals

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This commit is contained in:
jacobperron 2016-04-01 15:28:34 -07:00
parent d63d02f058
commit e234d705f9
5 changed files with 173 additions and 14 deletions
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60
src/create.cpp
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@ -677,6 +677,66 @@ namespace create {
}
}
uint16_t Create::getLightSignalLeft() const {
if (data->isValidPacketID(ID_LIGHT_LEFT)) {
return GET_DATA(ID_LIGHT_LEFT);
}
else {
CERR("[create::Create] ", "Light sensors not supported!");
return 0;
}
}
uint16_t Create::getLightSignalFrontLeft() const {
if (data->isValidPacketID(ID_LIGHT_FRONT_LEFT)) {
return GET_DATA(ID_LIGHT_FRONT_LEFT);
}
else {
CERR("[create::Create] ", "Light sensors not supported!");
return 0;
}
}
uint16_t Create::getLightSignalCenterLeft() const {
if (data->isValidPacketID(ID_LIGHT_CENTER_LEFT)) {
return GET_DATA(ID_LIGHT_CENTER_LEFT);
}
else {
CERR("[create::Create] ", "Light sensors not supported!");
return 0;
}
}
uint16_t Create::getLightSignalRight() const {
if (data->isValidPacketID(ID_LIGHT_RIGHT)) {
return GET_DATA(ID_LIGHT_RIGHT);
}
else {
CERR("[create::Create] ", "Light sensors not supported!");
return 0;
}
}
uint16_t Create::getLightSignalFrontRight() const {
if (data->isValidPacketID(ID_LIGHT_FRONT_RIGHT)) {
return GET_DATA(ID_LIGHT_FRONT_RIGHT);
}
else {
CERR("[create::Create] ", "Light sensors not supported!");
return 0;
}
}
uint16_t Create::getLightSignalCenterRight() const {
if (data->isValidPacketID(ID_LIGHT_CENTER_RIGHT)) {
return GET_DATA(ID_LIGHT_CENTER_RIGHT);
}
else {
CERR("[create::Create] ", "Light sensors not supported!");
return 0;
}
}
bool Create::isMovingForward() const {
if (data->isValidPacketID(ID_STASIS)) {
return GET_DATA(ID_STASIS) == 1;

12
src/data.cpp
View file

@ -53,12 +53,12 @@ namespace create {
ADD_PACKET(ID_LEFT_ENC, 2, "enc_counts_left");
ADD_PACKET(ID_RIGHT_ENC, 2, "enc_counts_right");
ADD_PACKET(ID_LIGHT, 1, "light_bumper");
//ADD_PACKET(ID_LIGHT_LEFT, 2, "light_bumper_left");
//ADD_PACKET(ID_LIGHT_FRONT_LEFT, 2, "light_bumper_front_left");
//ADD_PACKET(ID_LIGHT_CENTER_LEFT, 2, "light_bumper_center_left");
//ADD_PACKET(ID_LIGHT_CENTER_RIGHT, 2, "light_bumper_center_right");
//ADD_PACKET(ID_LIGHT_FRONT_RIGHT, 2, "light_bumper_front_right");
//ADD_PACKET(ID_LIGHT_RIGHT, 2, "light_bumper_right");
ADD_PACKET(ID_LIGHT_LEFT, 2, "light_bumper_left");
ADD_PACKET(ID_LIGHT_FRONT_LEFT, 2, "light_bumper_front_left");
ADD_PACKET(ID_LIGHT_CENTER_LEFT, 2, "light_bumper_center_left");
ADD_PACKET(ID_LIGHT_CENTER_RIGHT, 2, "light_bumper_center_right");
ADD_PACKET(ID_LIGHT_FRONT_RIGHT, 2, "light_bumper_front_right");
ADD_PACKET(ID_LIGHT_RIGHT, 2, "light_bumper_right");
ADD_PACKET(ID_IR_LEFT, 1, "ir_opcode_left");
ADD_PACKET(ID_IR_RIGHT, 1, "ir_opcode_right");
//ADD_PACKET(ID_LEFT_MOTOR_CURRENT, 2, "left_motor_current");