jakob.kampichler/libcreate
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Add API for getting left and right wheeldrop

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Signed-off-by: Jacob Perron <jacobmperron@gmail.com>
This commit is contained in:
Jacob Perron 2019-08-26 20:36:50 -07:00 • committed by Jacob Perron
parent df149bdc12
commit 4a0f8ad72b
2 changed files with 30 additions and 0 deletions
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10
include/create/create.h
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@ -336,6 +336,16 @@ namespace create {
*/ */
bool isWheeldrop() const; 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. * \return true if left bumper is pressed, false otherwise.
*/ */

20
src/create.cpp
View file

@ -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 { bool Create::isLeftBumper() const {
if (data->isValidPacketID(ID_BUMP_WHEELDROP)) { if (data->isValidPacketID(ID_BUMP_WHEELDROP)) {
return (GET_DATA(ID_BUMP_WHEELDROP) & 0x02) != 0; return (GET_DATA(ID_BUMP_WHEELDROP) & 0x02) != 0;