Robotec 1.0.0
Tracking.h
1/* -- Tracking --
2 * Parte de la biblioteca "Robotec"
3 * created 20 Dic 2023
4 * by Lucas Martin Treser
5*/
6
7#ifndef Tracking_h
8#define Tracking_h
9
10#include "Arduino.h"
11
12/*** Constantes Globales Tracking ***/
13static const uint8_t NO_SENSOR = 0;
14static const uint8_t SENSOR_LEFT = 1;
15static const uint8_t SENSOR_CENTER = 2;
16static const uint8_t SENSOR_RIGHT = 3;
17static const uint8_t SENSOR_LEFT_CENTER = 4;
18static const uint8_t SENSOR_RIGHT_CENTER = 5;
19static const uint8_t SENSOR_ALL = 6;
20
21/*** Sensor de linea (tracking) ***/
22class Tracking {
23 public:
24 Tracking(uint8_t outPin, bool black = false);
25 Tracking(uint8_t lPin, uint8_t cPin, uint8_t rPin, bool black = false);
26 // TODO: agregar soporte para sensor "5-Channel IR Tracker"
27 uint8_t read();
28
29 private:
30 uint8_t _readLCR();
31 bool _blackLineState; // valor que entrega el sensor al leer linea negra
32 bool _sensorType; // tipo de sensor, true: triple, false: simple
33 uint8_t _state; // estado de retorno de la lectura del sensor
34 uint8_t _outPin; // sensor simple: pin out
35 uint8_t _lPin; // sensor triple: pin izquierdo
36 uint8_t _cPin; // sensor triple: pin central
37 uint8_t _rPin; // sensor triple: pin derecho
38};
39
40#endif
Definition: Tracking.h:22
Tracking(uint8_t outPin, bool black=false)
Sensor de linea simple (tracking y similares)
Definition: Tracking.cpp:14
uint8_t read()
Lectura del estado del sensor.
Definition: Tracking.cpp:49