mrm-ir-finder2.h

#pragma once
#include "Arduino.h"
#include <mrm-board.h>
 
#define MAX_IR_FINDER2s 1 //Maximum number of IR finders.
#define IR_FINDERS_DETECTION_THRESHOLD 50 // Increasing this number mitigates noise problems but decreases sensitivity
#define IR_FINDERS_MAXIMUM_ANALOG_READ 3300 // Change this number according to Your system in order to get exact angles. 
    //Numbers close to 1023 are expected for 10-bit ADCs and around 3500 for 12-bit ADCs (ESP32).
 
struct IRSource {
public:
    int16_t angle;
    uint16_t distance;
    bool any;
};
 
class Mrm_ir_finder2
{
    int nextFree;
    uint8_t anglePins[MAX_IR_FINDER2s];
    uint8_t distancePins[MAX_IR_FINDER2s];
    Robot* robotContainer;
 
public:
    Mrm_ir_finder2(Robot* robot);
 
    ~Mrm_ir_finder2();
 
    void add(uint8_t anglePin, uint8_t distancePin);
 
    bool anyIRSource(uint8_t sensorNumber = 0);
 
    IRSource irSource(uint8_t sensorNumber = 0);
 
    void test(bool updateByTimerInterrupts = false);
};