Merged 1.0.5

1 files changed, 40 insertions, 0 deletions

diff --git a/libraries/Robot_Motor/LineFollow.h b/libraries/Robot_Motor/LineFollow.h
new file mode 100644
index 0000000..608d573
--- /dev/null
+++ b/libraries/Robot_Motor/LineFollow.h
@@ -0,0 +1,40 @@
+#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
\ No newline at end of file