ball, maybe

include/data_source.h

@@ -9,7 +9,7 @@ class DataSource {
 
     public:
         DataSource();
-        DataSource(HardwareSerial, int);
+        DataSource(usb_serial_class, int);
         DataSource(TwoWire);
         DataSource(int, bool);
 
@@ -29,7 +29,7 @@ class DataSource {
             P_PIND            
         };
         
-        HardwareSerial* ser;
+        usb_serial_class* ser;
         TwoWire* i2c;
 
         int pin;

include/data_source_ball.h

@@ -0,0 +1,11 @@
+#include "data_source.h"
+
+class DataSourceBall : public DataSource{
+
+    public:
+        DataSourceBall(usb_serial_class ser, int baud);
+        void postProcess() override;
+        void test() override;
+        int angle,distance;
+        bool ballSeen;
+};

include/sensors.h

@@ -1,5 +1,6 @@
 #include <Arduino.h>
 #include "data_source_bno055.h"
+#include "data_source_ball.h"
 #include "motor.h"
 #include "drivecontroller.h"
 
@@ -13,4 +14,5 @@ void initSensors();
 void updateSensors();
 
 extr DataSource* compass;
-extr DriveController* drive;
+extr DataSource* ball;
+extr DriveController* drive;

src/data_source.cpp

@@ -13,7 +13,7 @@ DataSource::DataSource(TwoWire i2c_){
 
 }
 
-DataSource::DataSource(HardwareSerial ser_, int baud){
+DataSource::DataSource(usb_serial_class ser_, int baud){
     this->ser = &(ser_);
     protocol = 2;
     

src/data_source_ball.cpp

@@ -0,0 +1,25 @@
+#include "data_source_ball.h"
+#include "vars.h"
+
+DataSourceBall::DataSourceBall(usb_serial_class ser_, int baud) : DataSource(ser_, baud) {
+}
+
+void DataSourceBall :: postProcess(){
+    if((value & 0x01) == 1){
+        distance = value;
+        ballSeen = distance > 1;
+      }else{ 
+        angle = value * 2; 
+      }
+}
+
+void DataSourceBall :: test(){
+    this->update();
+    if(ballSeen){
+    DEBUG_PRINT.print(angle); 
+    DEBUG_PRINT.print(" | ");
+    DEBUG_PRINT.println(distance); 
+    }else{
+    DEBUG_PRINT.println("Not seeing ball");
+    }
+}

src/main.cpp

@@ -16,5 +16,6 @@ void setup() {
 void loop() {
   updateSensors();
   //should recenter using predefined values
-  drive->drive(0, 0, 0);
+ // drive->drive(0, 0, 0);
+ ball->test();
 }

src/sensors.cpp

@@ -4,6 +4,7 @@
 void initSensors(){
     compass = new DataSourceBNO055();
     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));
+    ball = new DataSourceBall(Serial, 57600);
 }
 
 void updateSensors(){