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