SPQR-Team-2019-REVAMPED/include/sensors/data_source_ball.h

22 lines
532 B
C++

#pragma once
#include "behaviour_control/data_source.h"
#include <Arduino.h>
#define MOUTH_MIN_ANGLE 345
#define MOUTH_MAX_ANGLE 15
#define MOUTH_DISTANCE 100
#define MOUTH_MAX_DISTANCE 120
class DataSourceBall : public DataSource{
public:
DataSourceBall(HardwareSerial* ser, int baud);
void postProcess() override;
void test() override;
bool isInMouth();
bool isInMouthMaxDistance();
bool isInFront();
int angle, distance, angleFix;
bool ballSeen;
};