TouchReader.hpp

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#ifndef TOUCHREADER_HPP_
#define TOUCHREADER_HPP_

#include <Wire.h>
#include <Adafruit_MPR121.h>
#include "SensorReader.h"
#include "uart_com.h"  // NOLINT

class TouchReader: public SensorReader {
  Adafruit_MPR121 cap_;
  int16_t touched_;
  uart_com & cm;
  bool is_continuous_;
  uint8_t diag_status_;
  String diag_message_;
  int count_;

public:
  TouchReader(cabot::Handle & ch, uart_com & cm);
  void init();
  void init(
    uint8_t touch_baseline, uint8_t touch_threshold,
    uint8_t release_threshold);
  void update();
  void diag_pub();
  void check_touch_raw(int16_t touch_raw);

private:
  void set_mode(uint8_t touch_baseline);
};

#endif  // TOUCHREADER_HPP_