Device::Linefollower Class Reference

#include <linefollower.h>

Public Types
enum class	linefollower_id_t : uint8_t { LEFT = 0 , RIGHT = 1 }
enum class	linefollower_result_t : uint8_t { BLACK = 0 , WHITE = 1 }

Public Member Functions
	Linefollower (Robot &robot)
	~Linefollower ()
void	initialize ()
	Sets up the necessary GPIO pin and ADC channel.
void	measure ()
	Measures the currently seen color from both sensors.
linefollower_result_t	get_left_sensor_color () const
	Get the last measured color from the left sensor.
linefollower_result_t	get_right_sensor_color () const
	Get the last measured color from the right sensor.

Static Public Attributes
static constexpr uint16_t	REFLECTIVITY_THRESHOLD = 2300

Member Enumeration Documentation

linefollower_id_t

enum class Device::Linefollower::linefollower_id_t : uint8_t

strong

Enumerator
LEFT
RIGHT

linefollower_result_t

enum class Device::Linefollower::linefollower_result_t : uint8_t

strong

Enumerator
BLACK
WHITE

Constructor & Destructor Documentation

Linefollower()

Device::Linefollower::Linefollower ( Robot & robot )

explicit

~Linefollower()

Device::Linefollower::~Linefollower

(

)

Member Function Documentation

get_left_sensor_color()

linefollower_result_t Device::Linefollower::get_left_sensor_color ( ) const

inlinenodiscard

Get the last measured color from the left sensor.

Returns

The color last measured by the right sensor

get_right_sensor_color()

linefollower_result_t Device::Linefollower::get_right_sensor_color ( ) const

inlinenodiscard

Get the last measured color from the right sensor.

Returns

The color last measured by the right sensor

initialize()

void Device::Linefollower::initialize

(

)

Sets up the necessary GPIO pin and ADC channel.

measure()

void Device::Linefollower::measure

(

)

Measures the currently seen color from both sensors.

Member Data Documentation

REFLECTIVITY_THRESHOLD

uint16_t Device::Linefollower::REFLECTIVITY_THRESHOLD = 2300

staticconstexpr

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The documentation for this class was generated from the following files:

• devices/linefollower/linefollower.h
• devices/linefollower/linefollower.cpp