ForceSensor.h

//
// ForceSensor.h
//
// Copyright (c) 2025 Embedded Technology Software Design Robot Contest
//
 
#ifndef SPIKE_CPP_API_FORCE_SENSOR_H_ 
#define SPIKE_CPP_API_FORCE_SENSOR_H_
 
#include <cstdint>
extern "C" {
#include <spike/pup/forcesensor.h>
}
 
#include <libcpp/spike/Port.h>
 
namespace spikeapi {
class ForceSensor
{
public:
 
  ForceSensor(EPort port) { 
    /* エラー時にはNULLが設定される */
    mDevice = pup_force_sensor_get_device(static_cast<pbio_port_id_t>(port));
  }
    
  float getForce() const { 
    return pup_force_sensor_force(mDevice); 
  }
  
  float getDistance() const { 
    return pup_force_sensor_distance(mDevice);
  } 
  
  bool isPressed(float force) const { 
    return pup_force_sensor_pressed(mDevice, force); 
  } 
  
  bool isTouched() const { 
    return pup_force_sensor_touched(mDevice); 
  }
 
  bool hasError() { return mDevice == 0; }
  
private: 
  pup_device_t *mDevice;
}; // class ForceSensor
}  // namespace spikeapi
 
#endif // !SPIKE_CPP_API_FORCE_SENSOR_H_