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VisionBase.h
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VisionBase.h
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#ifndef VisionBase_h
#define VisionBase_h
#include "Arduino.h"
#include "VisionEncoder.h"
#include "VisionStepper.h"
#include "VisionSensor.h"
#include "pins_big_robot.h"
#include "big_robot_constants.h"
#include <elapsedMillis.h>
#define NONE 0
#define FRONT 1
#define BACK 2
#define LEFT 3
#define RIGHT 4
class VisionBase {
public:
void init();
void setStartDelays(int startDelay);
void moveForward(float distance, int step_delay);
void moveBackward(float distance, int step_delay);
boolean frontDetected();
boolean leftDetected();
boolean rightDetected();
boolean backDetected();
void checkObstructions();
void turnLeft(int angle);
void turnRight(int angle);
void pause();
void unpause();
void stopNow();
void doLoop();
boolean isStopped();
void disable();
public:
VisionStepper leftMotor, rightMotor;
VisionEncoder leftEncoder, rightEncoder;
VisionSensor backLeft, backBack, backRight, left, right, frontLeft, frontFront, frontRight;
int directionMovement;
boolean oppositeSide;
boolean obstructionDetected;
};
#endif