| /* | |
| 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 | |
| */ | |
| 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]; | |
| }; | |