position

include/ds_ctrl_lines.h

@@ -16,11 +16,11 @@
 #define LINE_THRESH 90
 #define EXTIME 100
 
-class DataSourceCtrlLines : public DataSourceCtrl {
+class DSCtrlLines : public DataSourceCtrl {
 
     public:
-        DataSourceCtrlLines();
+        DSCtrlLines();
-        DataSourceCtrlLines(vector<DataSource*> in_, vector<DataSource*> out);
+        DSCtrlLines(vector<DataSource*> in_, vector<DataSource*> out);
 
         void read() override;
         void postProcess() override;

include/ds_ctrl_position.h

@@ -0,0 +1,10 @@
+#include "vars.h"
+#include "ds_ctrl.h"
+#include "ds_ctrl_lines.h"
+
+class DSCtrlPosition : public DataSourceController {
+
+    public:
+        DSCtrlPosition();
+
+};

include/sensors.h

@@ -25,8 +25,8 @@ s_extr vector<DataSource*> lIn;
 s_extr vector<DataSource*> lOut;
 s_extr vector<DataSource*> dUs;
 
-s_extr DataSourceCtrl* usCtrl;
+s_extr DSCtrlLines* usCtrl;
-s_extr DataSourceCtrlLines* linesCtrl;
+s_extr DSCtrlLines* linesCtrl;
 
 s_extr DataSourceBNO055* compass;
 s_extr DataSourceBall* ball;

src/ds_ctrl_lines.cpp

@@ -2,8 +2,8 @@
 #include "sensors.h"
 
 using namespace std;
-DataSourceCtrlLines::DataSourceCtrlLines() {}
+DSCtrlLines::DSCtrlLines() {}
-DataSourceCtrlLines::DataSourceCtrlLines(vector<DataSource*> in_, vector<DataSource*> out_){
+DSCtrlLines::DSCtrlLines(vector<DataSource*> in_, vector<DataSource*> out_){
     this->in = in_;
     this->out = out_;
 
@@ -24,7 +24,7 @@ DataSourceCtrlLines::DataSourceCtrlLines(vector<DataSource*> in_, vector<DataSou
     exitTimer = 0;
 }
 
-void DataSourceCtrlLines::read(){
+void DSCtrlLines::read(){
   inV = 0;
   outV = 0;
   for(DataSource* d : in) d->readSensor();
@@ -49,7 +49,7 @@ void DataSourceCtrlLines::read(){
   inV = inV | outV;
 }
 
-void DataSourceCtrlLines::postProcess(){
+void DSCtrlLines::postProcess(){
   if ((inV > 0) || (outV > 0)) {
       fboundsOX = true;
       fboundsOY = true;
@@ -63,12 +63,12 @@ void DataSourceCtrlLines::postProcess(){
   outOfBounds();
 }
 
-void DataSourceCtrlLines::outOfBounds(){
+void DSCtrlLines::outOfBounds(){
     handleExtern();
     handleIntern();
 }
 
-void DataSourceCtrlLines::handleIntern(){
+void DSCtrlLines::handleIntern(){
 
   if(fboundsX == true) {
     if(inV & 0x02) inVOldX = 2;
@@ -162,14 +162,14 @@ void DataSourceCtrlLines::handleIntern(){
    else slow = false;
 }
 
-void DataSourceCtrlLines::handleExtern(){
+void DSCtrlLines::handleExtern(){
     if((outV & 0b00000001) == 1) drive->vyp = 1;  // esclusione
     if((outV & 0b00000100) == 4) drive->vyn = 1;
     if((outV & 0b00000010) == 2) drive->vxp = 1;
     if((outV & 0b00001000) == 8) drive->vxn = 1;
 }
 
-void DataSourceCtrlLines::test(){
+void DSCtrlLines::test(){
   update();
   DEBUG.print("In: ");
   for(DataSource* d : in){

src/sensors.cpp

@@ -16,7 +16,7 @@ void initSensors(){
     ball = new DataSourceBall(&Serial4, 57600);
     camera = new DataSourceCamera(&Serial2, 19200);
     usCtrl = new DataSourceCtrl(dUs);
-    linesCtrl = new DataSourceCtrlLines(lIn, lOut);
+    linesCtrl = new DSCtrlLines(lIn, lOut);
     bt = new DataSourceBT(&Serial3, 115200);
 
     /*game = new Game();