42 lines
942 B
C++
42 lines
942 B
C++
#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 S1I A14
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#define S1O A15
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#define S2I A16
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#define S2O A17
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#define S3I A20
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#define S3O A0
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#define S4I A1
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#define S4O A2
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#define LINE_THRESH_CAM 90
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#define EXIT_TIME 125
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#define LINES_EXIT_SPD 350
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class LineSysCamera : public LineSystem{
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public:
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LineSysCamera();
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LineSysCamera(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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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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elapsedMillis exitTimer;
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int outDir, outVel;
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byte linesens;
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}; |