File size: 1,673 Bytes
69c3cbe | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 | /*
Copyright (c) 2012 Arduino LLC. All right reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
#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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