FSR.h

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#ifndef FSR_h
#define FSR_h
 
// Arduino compiles everything in the src folder even if not included so it causes and error for the nano if this is not included.
#if defined(ARDUINO_TEENSY36)  || defined(ARDUINO_TEENSY41)
 
#include "Arduino.h"
#include "Board.h"
#include "Utilities.h"
 
 
class FSR
{
    public:
        FSR(int pin);
        
        bool calibrate(bool do_calibrate); // Changes the controller for an individual joint
        
        bool refine_calibration(bool do_refinement);
        
        float read(); // reads the pins and updates the data object.f
        
        bool get_ground_contact();
 
        void get_contact_thresholds(float &lower_threshold_percent_ground_contact, float &upper_threshold_percent_ground_contact);
        
        void set_contact_thresholds(float lower_threshold_percent_ground_contact, float upper_threshold_percent_ground_contact);
    private:
        bool _calc_ground_contact();  
 
        // Stores the sensor readings
        uint16_t _raw_reading;  
        float _calibrated_reading; 
        int _pin; 
        // used for calibration
        const uint16_t _cal_time = 5000; 
        uint16_t _start_time;  
        bool _last_do_calibrate; 
        uint16_t _calibration_min;  
        uint16_t _calibration_max;  
        // used for calibration refinement
        const uint8_t _num_steps = 7; 
        const float _lower_threshold_percent_calibration_refinement = .33;  
        const float _upper_threshold_percent_calibration_refinement = .66;  
        bool _state;  
        bool _last_do_refinement;  
        unsigned int _step_max_sum; 
        uint16_t _step_max; 
        unsigned int _step_min_sum; 
        uint16_t _step_min; 
        uint8_t _step_count;  
        float _calibration_refinement_min;  
        float _calibration_refinement_max;  
        // used for ground_contact()
        bool _ground_contact;  
        const uint8_t _ground_state_count_threshold = 4;  
        float _lower_threshold_percent_ground_contact = .15;  
        float _upper_threshold_percent_ground_contact = .25;  
};
#endif
#endif