49 lines
1.1 KiB
C
49 lines
1.1 KiB
C
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#pragma once
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#include <Arduino.h>
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#include "behaviour_control/ds_ctrl.h"
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#include "systems/systems.h"
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#include "vars.h"
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#define S1O A7
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#define S1I A6
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#define S2O A2
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#define S2I A3
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#define S3I A9
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#define S3O A8
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#define S4I A0
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#define S4O A1
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#define LINE_THRESH_CAM_REC 350
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#define EXIT_TIME_REC 300
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#define X_LIMIT 4
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#define Y_LIMIT 5
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class LineSysCameraRecovery : public LineSystem{
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public:
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LineSysCameraRecovery();
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LineSysCameraRecovery(vector<DataSource*> in_, vector<DataSource*> out);
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void update() override;
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void test() override;
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void outOfBounds();
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void checkLineSensors();
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void striker();
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bool isInLimitX();
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bool isInLimitY();
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private:
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vector<DataSource*> in, out;
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DataSource* ds;
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bool fboundsX, fboundsY, fboundsOX, fboundsOY, slow;
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int inV, outV, linesensOldX, linesensOldY, value, linetriggerI[4], linetriggerO[4], linepins[4], i;
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unsigned long exitTimer;
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int outDir, outVel;
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byte linesens;
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int outX, outY;
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};
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