SPQR-Team-2019-REVAMPED/include/systems/lines/linesys_camera.h

#pragma once

#include <Arduino.h>

#include "behaviour_control/ds_ctrl.h"
#include "systems/systems.h"

#include "vars.h"

#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

class LineSysCamera : public LineSystem
{

public:
    LineSysCamera();
    LineSysCamera(vector<DataSource *> in_, vector<DataSource *> out);

    void update() override;
    void test() override;
    void outOfBounds();
    void checkLineSensors();
    bool angleCritic(int angle);

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;
};