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VisionBase.h
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VisionBase.h
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#ifndef VisionBase_h
#define VisionBase_h
#include "Arduino.h"
#include "VisionDC.h"
#include "VisionSensor.h"
#include "VisionState.h"
#include "VisionEncoders.h"
#include "pins.h"
#include "constants.h"
#include <Servo.h>
#include <elapsedMillis.h>
#define NONE 4
#define FRONT 3
#define BACK 0
#define LEFT 1
#define RIGHT 2
#define PAUSED 500
#define OVER 501
#define HOMOLOGATION 400
#define YELLOW_SIDE 0
#define GREEN_SIDE 100
#define CLIMB_STAIRS 50
class VisionBase {
public:
void init();
void moveForward(int pwmv);
boolean sensorDetection();
void turnLeft(int pwmv);
void turnRight(int pwmv);
void doDistanceInCM(int dist, int nextState);
void doAngleRotation(int dist, int nextState);
bool leftMotorDir();
bool rightMotorDir();
float cmToSteps(float value);
float angleToSteps(float value);
void doLoop();
void update();
void pause();
void unpause();
void lowerBeacon();
void resumeBeacon();
void releaseCarpets();
void moveBeacon(int value);
void stopNow();
public:
Servo beaconServo, carpetClaw;
VisionEncoders leftEncoder, rightEncoder;
VisionState state;
VisionDC leftMotor, rightMotor;
VisionSensor frontLeft, frontRight;
VisionSensor color;
int pwmValue = 0;
int directionMovement = NONE;
int stateBeforePause;
float lastPositionLeft = 0;
float lastPositionRight = 0;
int lastBeaconServoValue = 0;
bool isPaused = false;
bool isResuming = false;
bool isStopped = false;
bool ignoredSensors = false;
bool newMovement = false;
};
#endif