43 lines
953 B
C
43 lines
953 B
C
|
#pragma once
|
||
|
|
|
||
|
|
#include <Arduino.h>
|
||
|
|
|
||
|
|
#include "behaviour_control/ds_ctrl.h"
|
||
|
|
#include "systems/systems.h"
|
||
|
|
|
||
|
|
#include "vars.h"
|
||
|
|
|
||
|
|
#ifndef S1I
|
||
|
|
|
||
|
|
#define S1I A14
|
||
|
|
#define S1O A15
|
||
|
|
#define S2I A16
|
||
|
|
#define S2O A17
|
||
|
|
#define S3I A20
|
||
|
|
#define S3O A0
|
||
|
|
#define S4I A1
|
||
|
|
#define S4O A2
|
||
|
|
#define LINE_THRESH_CAM 100
|
||
|
|
#define EXIT_TIME 100
|
||
|
|
#endif
|
||
|
|
|
||
|
|
class LineSysCameraKeeper : public LineSystem{
|
||
|
|
|
||
|
|
public:
|
||
|
|
LineSysCameraKeeper();
|
||
|
|
LineSysCameraKeeper(vector<DataSource*> in_, vector<DataSource*> out);
|
||
|
|
|
||
|
|
void update() override;
|
||
|
|
void test() override;
|
||
|
|
void outOfBounds();
|
||
|
|
void checkLineSensors();
|
||
|
|
|
||
|
|
private:
|
||
|
|
vector<DataSource*> in, out;
|
||
|
|
DataSource* ds;
|
||
|
|
bool fboundsX, fboundsY, fboundsOX, fboundsOY, slow;
|
||
|
|
int inV, outV, linesensOldX, linesensOldY, value, linetriggerI[4], linetriggerO[4], linepins[4], i;
|
||
|
|
unsigned long exitTimer;
|
||
|
|
int outDir, outVel;
|
||
|
|
byte linesens;
|
||
|
|
};
|