MeLineFollower.h

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#ifndef MeLineFollower_H
#define MeLineFollower_H
 
#include <stdint.h>
#include <stdbool.h>
#include <Arduino.h>
#include "MeConfig.h"
 
#ifdef ME_PORT_DEFINED
#include "MePort.h"
#endif // ME_PORT_DEFINED
 
#define S1_IN_S2_IN   (0x00)    // sensor1 and sensor2 are both inside of black line
#define S1_IN_S2_OUT  (0x01)    // sensor1 is inside of black line and sensor2 is outside of black line
#define S1_OUT_S2_IN  (0x02)    // sensor1 is outside of black line and sensor2 is inside of black line
#define S1_OUT_S2_OUT (0x03)    // sensor1 and sensor2 are both outside of black line
 
#ifndef ME_PORT_DEFINED
class MeLineFollower
#else // !ME_PORT_DEFINED
class MeLineFollower : public MePort
#endif  // ME_PORT_DEFINED
{
public:
#ifdef ME_PORT_DEFINED
  MeLineFollower(void);
 
  MeLineFollower(uint8_t port);
#else // ME_PORT_DEFINED 
  MeLineFollower(uint8_t Sensor1,uint8_t Sensor2);
#endif  // ME_PORT_DEFINED
  void setpin(uint8_t Sensor1,uint8_t Sensor2);
 
  uint8_t readSensors(void);
 
  bool readSensor1(void);
 
  bool readSensor2(void);
private:
  volatile uint8_t  _Sensor1;
  volatile uint8_t  _Sensor2;
};
#endif