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#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
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