SimpleRSLK.h

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#include "RSLK_Pins.h"
#include "QTRSensors.h"
#include "GP2Y0A21_Sensor.h"
#include "Encoder.h"
#include "Romi_Motor_Power.h"
#include "Bump_Switch.h"
 
#ifndef SimpleRSLK_h
#define SimpleRSLK_h
 
#define LS_NUM_SENSORS 8
 
#define DST_NUM_SENSORS 3
 
#define NUM_MOTORS 2
 
#define LP_LEFT_BTN PUSH2
 
#define LP_RIGHT_BTN PUSH1
 
#define TOTAL_BP_SW 6
 
#define LEFT_MOTOR 0
 
#define RIGHT_MOTOR 1
 
#define BOTH_MOTORS 2
 
#define LEFT_SHRP_DIST 0
 
#define CENTER_SHRP_DIST 1
 
#define RIGHT_SHRP_DIST 2
 
#define MOTOR_DIR_FORWARD 0
 
#define MOTOR_DIR_BACKWARD 1
 
#define DARK_LINE 0
 
#define LIGHT_LINE 1
 
void setupRSLK();
 
uint16_t readSharpDist(uint8_t num);
 
int16_t readSharpDistMM(uint8_t num);
 
float readSharpDistIN(uint8_t num);
 
bool isBumpSwitchPressed(uint8_t num);
 
uint8_t getBumpSwitchPressed();
 
void enableMotor(uint8_t motorNum);
 
void disableMotor(uint8_t motorNum);
 
void pauseMotor(uint8_t motorNum);
 
void resumeMotor(uint8_t motorNum);
 
void setMotorDirection(uint8_t motorNum, uint8_t direction);
 
void setMotorSpeed(uint8_t motorNum, uint8_t speed);
 
void setupWaitBtn(uint8_t btn);
 
void setupLed(uint8_t ledPin);
 
void waitBtnPressed(uint8_t btnPin, int8_t ledPin = 0);
 
void calibrateLineSensor(uint8_t mode = DARK_LINE, uint32_t duration = 500);
 
void readCalLineSensor(uint16_t *calVal);
 
uint32_t getLinePosition();
 
void readRawLineSensor(uint16_t *sensor);
 
/*************************************************************************
 * deprecated methods
 *************************************************************************/
 
#define readLineSensor     readRawLineSensor
 
void clearMinMax(uint16_t *sensorMin, uint16_t *sensorMax);
 
void setSensorMinMax(uint16_t *sensor, uint16_t *sensorMin, uint16_t *sensorMax);
 
void readCalLineSensor(uint16_t *sensor,
                       uint16_t *calVal,
                       uint16_t *sensorMin,
                       uint16_t *sensorMax,
                       uint8_t mode);
 
uint32_t getLinePosition(uint16_t *calVal, uint8_t mode);
 
#endif  // SimpleRSLK_h