From d02fbc84105ff2da74f03fd658ace8919e3e9437 Mon Sep 17 00:00:00 2001
From: neoraider <devnull@localhost>
Date: Sun, 15 Apr 2007 22:01:04 +0000
Subject: LineSensorArray + Srf10 added.

---
 LineSensorArray.h | 39 +++++++++++++++++++++++++++++++++++++++
 1 file changed, 39 insertions(+)
 create mode 100644 LineSensorArray.h

(limited to 'LineSensorArray.h')

diff --git a/LineSensorArray.h b/LineSensorArray.h
new file mode 100644
index 0000000..9f67c60
--- /dev/null
+++ b/LineSensorArray.h
@@ -0,0 +1,39 @@
+#ifndef _ROBOCUP_LINESENSORARRAY_H_
+#define _ROBOCUP_LINESENSORARRAY_H_
+
+#include "LineSensor.h"
+#include "util.h"
+
+
+class LineSensorArray
+{
+private:
+	LineSensor *sensors[5];
+	
+	float line;
+	float sharpness;
+	float gw;
+	
+	float min_diff;
+	float max_white_diff;
+public:
+	LineSensorArray(LineSensor *sensors[5]);
+	LineSensorArray(LineSensor *sensor1, LineSensor *sensor2, LineSensor *sensor3, LineSensor *sensor4, LineSensor *sensor5);
+	
+	void update();
+	bool calibrate();
+	
+	bool isSensorBlack(int i) {return sensors[CLAMP(0, i, 4)]->getValue() > gw;}
+	bool isSensorWhite(int i) {return sensors[CLAMP(0, i, 4)]->getValue() <= gw;}
+	
+	float getLine() {return line;}
+	float getSharpness() {return sharpness;}
+	
+	float getMinimumDifference() {return min_diff;}
+	void setMinimumDifference(float min_diff) {this->min_diff = min_diff;}
+	
+	float getMaximumWhiteDifference() {return max_white_diff;}
+	void setMaximumWhiteDifference(float max_white_diff) {this->max_white_diff = max_white_diff;}
+};
+
+#endif
-- 
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