include/create/create.h

@@ -406,6 +406,26 @@ namespace create {
        */
       bool isCliffFrontRight() const;
 
+      /**
+       * \return the IR value of the left cliff sensor.
+       */
+      uint16_t getCliffSignalLeft() const;
+
+      /**
+       * \return the IR value of the front left cliff sensor.
+       */
+      uint16_t getCliffSignalFrontLeft() const;
+
+      /**
+       * \return the IR value of the right cliff sensor.
+       */
+      uint16_t getCliffSignalRight() const;
+
+      /**
+       * \return the IR value of the front right cliff sensor.
+       */
+      uint16_t getCliffSignalFrontRight() const;
+
       /**
        * \return true if there is a virtual wall signal is being received.
        */

src/create.cpp

@@ -156,17 +156,23 @@ namespace create {
       // Compute ticks since last update
       int ticksLeft = totalTicksLeft - prevTicksLeft;
       int ticksRight = totalTicksRight - prevTicksRight;
+
+    // Handle wrap around
+    if (ticksLeft > 0.9 * util::V_3_MAX_ENCODER_TICKS) {
+        ticksLeft -= util::V_3_MAX_ENCODER_TICKS;
+    } else if (ticksLeft < -0.9 * util::V_3_MAX_ENCODER_TICKS) {
+        ticksLeft += util::V_3_MAX_ENCODER_TICKS;
+    }
+
+    if (ticksRight > 0.9 * util::V_3_MAX_ENCODER_TICKS) {
+        ticksRight -= util::V_3_MAX_ENCODER_TICKS;
+    } else if (ticksRight < -0.9 * util::V_3_MAX_ENCODER_TICKS) {
+        ticksRight += util::V_3_MAX_ENCODER_TICKS;
+    }
+
       prevTicksLeft = totalTicksLeft;
       prevTicksRight = totalTicksRight;
 
-      // Handle wrap around
-      if (std::abs(ticksLeft) > 0.9 * util::V_3_MAX_ENCODER_TICKS) {
-        ticksLeft = (ticksLeft % util::V_3_MAX_ENCODER_TICKS) + 1;
-      }
-      if (std::abs(ticksRight) > 0.9 * util::V_3_MAX_ENCODER_TICKS) {
-        ticksRight = (ticksRight % util::V_3_MAX_ENCODER_TICKS) + 1;
-      }
-
       // Compute distance travelled by each wheel
       leftWheelDist = (ticksLeft / util::V_3_TICKS_PER_REV)
           * model.getWheelDiameter() * util::PI;
@@ -738,6 +744,46 @@ namespace create {
     }
   }
 
+  uint16_t Create::getCliffSignalLeft() const {
+    if (data->isValidPacketID(ID_CLIFF_LEFT)) {
+      return GET_DATA(ID_CLIFF_LEFT_SIGNAL);
+    }
+    else {
+      CERR("[create::Create] ", "Left cliff sensor signals not supported!");
+      return false;
+      }
+  }
+
+  uint16_t Create::getCliffSignalFrontLeft() const {
+    if (data->isValidPacketID(ID_CLIFF_FRONT_LEFT)) {
+      return GET_DATA(ID_CLIFF_FRONT_LEFT_SIGNAL);
+    }
+    else {
+      CERR("[create::Create] ", "Front left cliff sensor signals not supported!");
+      return false;
+    }
+  }
+
+  uint16_t Create::getCliffSignalRight() const {
+    if (data->isValidPacketID(ID_CLIFF_RIGHT)) {
+      return GET_DATA(ID_CLIFF_RIGHT_SIGNAL);
+    }
+    else {
+      CERR("[create::Create] ", "Rightt cliff sensor signals not supported!");
+      return false;
+    }
+  }
+
+  uint16_t Create::getCliffSignalFrontRight() const {
+    if (data->isValidPacketID(ID_CLIFF_FRONT_RIGHT)) {
+      return GET_DATA(ID_CLIFF_FRONT_RIGHT_SIGNAL);
+    }
+    else {
+      CERR("[create::Create] ", "Front right cliff sensor signals not supported!");
+      return false;
+    }
+  }
+
   bool Create::isVirtualWall() const {
     if (data->isValidPacketID(ID_VIRTUAL_WALL)) {
       return GET_DATA(ID_VIRTUAL_WALL);

src/data.cpp

@@ -16,6 +16,10 @@ namespace create {
     ADD_PACKET(ID_CLIFF_FRONT_LEFT, 1, "cliff_front_left", V_ALL);
     ADD_PACKET(ID_CLIFF_FRONT_RIGHT, 1, "cliff_front_right", V_ALL);
     ADD_PACKET(ID_CLIFF_RIGHT, 1, "cliff_right", V_ALL);
+    ADD_PACKET(ID_CLIFF_LEFT_SIGNAL, 2, "cliff_left_signal", V_3);
+    ADD_PACKET(ID_CLIFF_FRONT_LEFT_SIGNAL, 2, "cliff_front_left_signal", V_3);
+    ADD_PACKET(ID_CLIFF_FRONT_RIGHT_SIGNAL, 2, "cliff_front_right_signal", V_3);
+    ADD_PACKET(ID_CLIFF_RIGHT_SIGNAL, 2, "cliff_right_signal", V_3);
     ADD_PACKET(ID_VIRTUAL_WALL, 1, "virtual_wall", V_ALL);
     ADD_PACKET(ID_OVERCURRENTS, 1, "overcurrents", V_ALL);
     ADD_PACKET(ID_DIRT_DETECT_LEFT, 1, "dirt_detect_left", V_ALL);