linefollower.h

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#pragma once
 
#include <soc/gpio_num.h>
#include <esp_adc/adc_oneshot.h>
#include "include/log_sources.h"
 
class Robot;
 
namespace Device {
    class Linefollower {
    public:
        enum class linefollower_result_t : uint8_t;
 
    private:
        static constexpr const char* TAG = "Device::Linefollower";
        static constexpr log_source LOG_SOURCE = LOG_SOURCE_DEVICE_LINEFOLLOWER;
 
        static constexpr uint8_t NUM_LF_MODULES = 2;
        static constexpr gpio_num_t LF_RIGHT_LEFT_PIN = GPIO_NUM_12;
        static constexpr adc_channel_t ADC_CHANNEL = ADC_CHANNEL_0;
 
        Robot& robot;
        linefollower_result_t left_sensor_color;
        linefollower_result_t right_sensor_color;
 
    public:
        static constexpr uint16_t REFLECTIVITY_THRESHOLD = 2300;
 
        enum class linefollower_id_t : uint8_t {
            LEFT = 0,
            RIGHT = 1
        };
 
        enum class linefollower_result_t : uint8_t {
            BLACK = 0,
            WHITE = 1
        };
 
    public:
        explicit Linefollower(Robot& robot);
        ~Linefollower();

        void initialize();

        void measure();

         [[nodiscard]] linefollower_result_t get_left_sensor_color() const { return left_sensor_color; }

        [[nodiscard]] linefollower_result_t get_right_sensor_color() const { return right_sensor_color; }
    };
}