source: rtos_arduino/trunk/arduino_lib/libraries/Robot_Motor/src/LineFollow.h@ 136

#ifndef LINE_FOLLOW_H
#define LINE_FOLLOW_H

#if ARDUINO >= 100
        #include "Arduino.h"
#else
        #include "WProgram.h"
#endif

class LineFollow{
        public:
                LineFollow();

                void calibIRs();
                void runLineFollow();
                void config(uint8_t KP, uint8_t KD, uint8_t robotSpeed, uint8_t intergrationTime);
                
                //These are all pure virtual functions, pure VF needs pure specifier "=0"
                //virtual void motorsWrite(int speedL, int speedR)=0;
                virtual void motorsWritePct(int speedLpct, int speedRpct)=0;
                virtual void motorsStop()=0;
                virtual int _IRread(uint8_t num)=0;
        protected:
                virtual void reportActionDone()=0;
                
        private:
                void doCalibration(int speedPct, int time);
                void ajusta_niveles();
                
                uint8_t KP;
                uint8_t KD;
                uint8_t robotSpeed; //percentage
                uint8_t intergrationTime;
                
                int lectura_sensor[5], last_error, acu;
                int sensor_blanco[5];
                int sensor_negro[5];
};

#endif