42 lines
992 B
C++
42 lines
992 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 "position/systems.h"
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#include "vars.h"
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#define S1I 21 //A14 N
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#define S1O 20 //A15
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#define S2I 17 //A16 E
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#define S2O 16 //A17
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#define S3I 15 //A20 S
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#define S3O 14 //A0
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#define S4I 23 //A1 O
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#define S4O 22 //A2
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#define LINE_THRESH_CAM 90
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#define EXIT_TIME 100
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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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}; |