SPQR-Team1-2020/src/sensors.cpp

#define SENSORS_CPP
#include "sensors.h"

void initSensors(){
    pinMode(SWITCH_DX, INPUT);
    pinMode(SWITCH_SX, INPUT);
    vector<DataSource*> dUs { new DataSourceUS(&Wire1, int(112)), new DataSourceUS(&Wire1, int(113)), 
    new DataSourceUS(&Wire1, int(114)), new DataSourceUS(&Wire1, int(115)) };

    drive = new DriveController(new Motor(12, 11, 2, 45),new  Motor(25, 24, 5, 135), new Motor(27, 26, 6, 225), new Motor(21, 22, 23, 315));
    compass = new DataSourceBNO055();
    ball = new DataSourceBall(&Serial4, 57600);
    camera = new DataSourceCamera(&Serial2, 19200);
    usCtrl = new DataSourceController(dUs);
}

void updateSensors(){
    compass->update();
    ball->update();
    camera->update();
    // usCtrl->test();
}