text: #ifndef __PRESENCE__
  #define __PRESENCE__
  
  #include "Task.h"
  #include "Sonar.h"
  #include "MsgService.h"
  
  class Presence: public Task {
  
  public:
      Presence(Sonar* snr, MsgServiceClass* msgSr);
      void init(int period);
      void tick(State* state);
  
  private:
      float dist1 = 30; //cm
      Sonar* mySnr;
      MsgServiceClass* msgSr;
      int count;
      int prs;
  };
  
  #endif
  