A FlapSensor
represents a sensor associated with a flap that can be open or closed.
See also API doc: FlapSensor.
A FlapState
is a structure grouping the flap state of a
FlapSensor
(open or not) and the last time this state changed.
See also API doc: FlapState.
Pepper is equipped with a charging flap at his back. When his charging flap is open, all autonomous wheel motion is disabled, which makes it useful for the application developer to retrieve the charging flap state. The Power service exposes a flap sensor object representing that charging flap.
val power: Power = qiContext.power
val chargingFlap: FlapSensor? = power.chargingFlap
Power power = qiContext.getPower();
FlapSensor chargingFlap = power.getChargingFlap();
Warning
power.chargingFlap
returns null
if the robot does not have a charging flap.
To read the FlapState
of a FlapSensor
, use the getState()
method:
val flapSensor: FlapSensor = ...
val flapState: FlapState = flapSensor.state
FlapSensor flapSensor = ...;
FlapState flapState = flapSensor.getState();
To be notified when a FlapSensor
is open/closed, use the related
FlapSensor.OnStateChangedListener
:
val flapSensor: FlapSensor = ...
flapSensor.addOnStateChangedListener { flapState ->
Log.i(TAG, "Sensor " + (if (flapState.open ) "open" else "closed") + " at ${flapState.time}")
}
FlapSensor flapSensor = ...;
flapSensor.addOnStateChangedListener(flapState -> {
Log.i(TAG, "Sensor " + (flapState.getOpen() ? "open" : "closed") + " at " + flapState.getTime());
});
See also API doc: FlapSensor.OnStateChangedListener and Timestamps.