Zumo32U4LineSensors.h

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#pragma once
 
#include <QTRSensors.h>
 
static const uint8_t SENSOR_DOWN1 = 18;
 
static const uint8_t SENSOR_DOWN2 = 20;
 
static const uint8_t SENSOR_DOWN3 = 21;
 
static const uint8_t SENSOR_DOWN4 = 4;
 
static const uint8_t SENSOR_DOWN5 = 12;
 
static const uint8_t SENSOR_LEDON = 11;
 
class Zumo32U4LineSensors : public QTRSensorsRC
{
public:
 
    Zumo32U4LineSensors() { }
 
    Zumo32U4LineSensors(uint8_t * pins, uint8_t numSensors,
        uint8_t emitterPin = SENSOR_LEDON)
    {
        init(pins, numSensors, emitterPin);
    }
 
    void initThreeSensors(uint8_t emitterPin = SENSOR_LEDON)
    {
        uint8_t pins[] = { SENSOR_DOWN1, SENSOR_DOWN3, SENSOR_DOWN5 };
        init(pins, sizeof(pins), 2000, emitterPin);
    }
 
    void initFiveSensors(uint8_t emitterPin = SENSOR_LEDON)
    {
        uint8_t pins[] = { SENSOR_DOWN1, SENSOR_DOWN2, SENSOR_DOWN3,
                           SENSOR_DOWN4, SENSOR_DOWN5 };
        init(pins, sizeof(pins), 2000, emitterPin);
    }
 
    void init(uint8_t * pins, uint8_t numSensors,
        uint16_t timeout = 2000, uint8_t emitterPin = SENSOR_LEDON)
    {
        QTRSensorsRC::init(pins, numSensors, timeout, emitterPin);
    }
};