40 lines
1.1 KiB
C++
40 lines
1.1 KiB
C++
#define SENSORS_CPP
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#include "sensors/sensors.h"
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void initSensors(){
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pinMode(SWITCH_DX, INPUT);
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pinMode(SWITCH_SX, INPUT);
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pinMode(SWITCH_ID, INPUT);
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drive = new DriveController(new Motor(12, 11, 4, 55), new Motor(25, 24, 5, 135), new Motor(27, 26, 2, 225), new Motor(29, 28, 3, 305));
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// tone(BUZZER, 270, 250);
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// delay(350);
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compass = new DataSourceBNO055();
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// tone(BUZZER, 275, 250);
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// delay(350);
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ball = new DataSourceBall(&BALL_32U4, 57600);
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// tone(BUZZER, 280, 250);
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// delay(350);
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camera = new DataSourceCameraConic(&Serial3, 19200);
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// tone(BUZZER, 285, 250);
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// delay(350);
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bt = new DataSourceBT(&Serial1, 9600);
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roller = new Roller(30, 31, 1000, 2000, 500);
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ballPresence = new DataSourceBallPresence(A13, true);
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}
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void updateSensors(){
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role = digitalRead(SWITCH_DX);
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camera->old_goalOrientation = camera ->goalOrientation;
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camera->goalOrientation = digitalRead(SWITCH_SX);
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robot_indentifier = digitalRead(SWITCH_ID);
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compass->update();
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ball->update();
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ballPresence->update();
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camera->update();
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bt->update();
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roller->update();
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} |