41 lines
846 B
C++
41 lines
846 B
C++
#pragma once
|
|
|
|
#include <Arduino.h>
|
|
|
|
#include "behaviour_control/ds_ctrl.h"
|
|
#include "systems/systems.h"
|
|
|
|
#include "vars.h"
|
|
|
|
#define S1O A7
|
|
#define S1I A6
|
|
#define S2O A2
|
|
#define S2I A3
|
|
#define S3I A9
|
|
#define S3O A8
|
|
#define S4I A0
|
|
#define S4O A1
|
|
|
|
#define LINE_THRESH_CAM 350
|
|
#define EXIT_TIME 300
|
|
|
|
class LineSysCameraRR : public LineSystem{
|
|
|
|
public:
|
|
LineSysCameraRR();
|
|
LineSysCameraRR(vector<DataSource*> in_, vector<DataSource*> out);
|
|
|
|
void update() override;
|
|
void test() override;
|
|
void outOfBounds();
|
|
void checkLineSensors();
|
|
|
|
public:
|
|
bool tookLine = false, flag = false;
|
|
int linetriggerI[4], linetriggerO[4];
|
|
|
|
private:
|
|
vector<DataSource*> in, out;
|
|
DataSource* ds;
|
|
int inV, outV, linesensOldX, linesensOldY, value, linepins[4], i;
|
|
}; |