mirror of https://github.com/noisymime/Arduino.git
40 lines
890 B
C++
40 lines
890 B
C++
#ifndef LINE_FOLLOW_H
|
|
#define LINE_FOLLOW_H
|
|
|
|
#if ARDUINO >= 100
|
|
#include "Arduino.h"
|
|
#else
|
|
#include "WProgram.h"
|
|
#endif
|
|
|
|
class LineFollow{
|
|
public:
|
|
LineFollow();
|
|
|
|
void calibIRs();
|
|
void runLineFollow();
|
|
void config(uint8_t KP, uint8_t KD, uint8_t robotSpeed, uint8_t intergrationTime);
|
|
|
|
//These are all pure virtual functions, pure VF needs pure specifier "=0"
|
|
//virtual void motorsWrite(int speedL, int speedR)=0;
|
|
virtual void motorsWritePct(int speedLpct, int speedRpct)=0;
|
|
virtual void motorsStop()=0;
|
|
virtual int IRread(uint8_t num)=0;
|
|
protected:
|
|
virtual void reportActionDone()=0;
|
|
|
|
private:
|
|
void doCalibration(int speedPct, int time);
|
|
void ajusta_niveles();
|
|
|
|
uint8_t KP;
|
|
uint8_t KD;
|
|
uint8_t robotSpeed; //percentage
|
|
uint8_t intergrationTime;
|
|
|
|
int lectura_sensor[5], last_error, acu;
|
|
int sensor_blanco[5];
|
|
int sensor_negro[5];
|
|
};
|
|
|
|
#endif |