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include/okapi/impl/device/adiUltrasonic.hpp

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+/*
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+#pragma once
+
+#include "api.h"
+#include "okapi/api/control/controllerInput.hpp"
+#include "okapi/api/filter/passthroughFilter.hpp"
+#include <memory>
+
+namespace okapi {
+class ADIUltrasonic : public ControllerInput<double> {
+  public:
+  /**
+   * An ultrasonic sensor in the ADI (3-wire) ports.
+   *
+   * ```cpp
+   * auto ultra = ADIUltrasonic('A', 'B');
+   * auto filteredUltra = ADIUltrasonic('A', 'B', std::make_unique<MedianFilter<5>>());
+   * ```
+   *
+   * @param iportPing The port connected to the orange OUTPUT cable. This must be in port ``1``,
+   * ``3``, ``5``, or ``7`` (``A``, ``C``, ``E``, or ``G``).
+   * @param iportEcho The port connected to the yellow INPUT cable. This must be in the next highest
+   * port following iportPing.
+   * @param ifilter The filter to use for filtering the distance measurements.
+   */
+  ADIUltrasonic(std::uint8_t iportPing,
+                std::uint8_t iportEcho,
+                std::unique_ptr<Filter> ifilter = std::make_unique<PassthroughFilter>());
+
+  /**
+   * An ultrasonic sensor in the ADI (3-wire) ports.
+   *
+   * ```cpp
+   * auto ultra = ADIUltrasonic({1, 'A', 'B'});
+   * auto filteredUltra = ADIUltrasonic({1, 'A', 'B'}, std::make_unique<MedianFilter<5>>());
+   * ```
+   *
+   * @param iports The ports the ultrasonic is plugged in to in the order ``{smart port, ping port,
+   * echo port}``. The smart port is the smart port number (``[1, 21]``). The ping port is the port
+   * connected to the orange OUTPUT cable. This must be in port ``1``, ``3``, ``5``, or ``7``
+   * (``A``, ``C``, ``E``, or ``G``). The echo port is the port connected to the yellow INPUT cable.
+   * This must be in the next highest port following the ping port.
+   * @param ifilter The filter to use for filtering the distance measurements.
+   */
+  ADIUltrasonic(std::tuple<std::uint8_t, std::uint8_t, std::uint8_t> iports,
+                std::unique_ptr<Filter> ifilter = std::make_unique<PassthroughFilter>());
+
+  virtual ~ADIUltrasonic();
+
+  /**
+   * Returns the current filtered sensor value.
+   *
+   * @return current value
+   */
+  virtual double get();
+
+  /**
+   * Get the sensor value for use in a control loop. This method might be automatically called in
+   * another thread by the controller. Calls get().
+   */
+  virtual double controllerGet() override;
+
+  protected:
+  pros::c::ext_adi_ultrasonic_t ultra;
+  std::unique_ptr<Filter> filter;
+};
+} // namespace okapi