40 lines
997 B
C
40 lines
997 B
C
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#ifndef _ROBOCUP_LINESENSORARRAY_H_
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#define _ROBOCUP_LINESENSORARRAY_H_
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#include "LineSensor.h"
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#include "util.h"
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class LineSensorArray
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{
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private:
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LineSensor *sensors[5];
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float line;
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float sharpness;
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float gw;
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float min_diff;
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float max_white_diff;
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public:
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LineSensorArray(LineSensor *sensors[5]);
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LineSensorArray(LineSensor *sensor1, LineSensor *sensor2, LineSensor *sensor3, LineSensor *sensor4, LineSensor *sensor5);
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void update();
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bool calibrate();
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bool isSensorBlack(int i) {return sensors[CLAMP(0, i, 4)]->getValue() > gw;}
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bool isSensorWhite(int i) {return sensors[CLAMP(0, i, 4)]->getValue() <= gw;}
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float getLine() {return line;}
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float getSharpness() {return sharpness;}
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float getMinimumDifference() {return min_diff;}
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void setMinimumDifference(float min_diff) {this->min_diff = min_diff;}
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float getMaximumWhiteDifference() {return max_white_diff;}
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void setMaximumWhiteDifference(float max_white_diff) {this->max_white_diff = max_white_diff;}
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};
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#endif
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