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// *****************
// ** DEFINITIONS **
// *****************
// Pin configuration
#define pinSensCompass
#define pinSensObstacleTurret
#define pinSensIRLeft
#define pinSensIRRight
#define pinSensSampleTurret
#define pinSensSampleGripper
#define pinSensBeaconTurret
#define pinSensLab
// Location values
int currValRobotX;
int currValRobotY;
// Sensor values
int currValSensCompass;
int currValSensObstacleTurret;
int currValServoTurret;
// Actuator values
int currValTurret;
// Calibration values
#define calObstacleTurretMaxDist 50
#define calObstacleTurretMinDist 10
#define calIRLeftThreshold 2
#define calIRRightThreshold 2
#define cal
// RPi Data type declarations
enum DataType {COMPASS, OBSTACLETURRET, IRLEFT, IRRIGHT, SAMPLETURRET, SAMPLEGRIPPER, BEACONTURRET, LAB};
// **********************
// ** PI COMMUNICATION **
// **********************
// sendData to Raspberry Pi
void sendData(int method, int data, int data1 = null, int data2 = null) {
}
// **********************
// ** SENSOR FUNCTIONS **
// **********************
// sensor Compass, orientation
int sensCompass() {
int degree = 359;
sendData(COMPASS, degree);
return degree;
}
// sensor Ultrasound, distance measurement
int sensObstacleTurret() {
int distance = 100;
int turretAngle = 90;
sendData(OBSTACLETURRET, distance, turretAngle);
return distance;
}
// sensor IR, line detection
boolean sensIRLeft() {
// Inaccessible terrain. True for inaccessible, false for accessible
boolean inaccessible = false;
if(inaccessible) {
stopMovement();
sendData(IRLEFT, currValRobotX, currValRobotY, currValSensCompass);
}
return inaccessible;
}
int sensIRRight() {
// Inaccessible terrain. True for inaccessible, false for accessible
boolean inaccessible = false;
if(inaccessible) {
stopMovement();
sendData(IRRIGHT, currValRobotX, currValRobotY, currValSensCompass);
}
return inaccessible;
}
// sensor IR, sample detection
int sensSampleTurret() {
boolean sample = false;
if(sample) {
stopAllServos();
sendData(SAMPLETURRET, currValRobotX, currValRobotY, currValSensCompass, currValTurret);
}
}
int sensSampleGripper() {
boolean sample = false;
if(sample) {
stopAllServos();
sendData(SAMPLEGRIPPER, currValRobotX, currValRobotY, currValSensCompass);
}
}
// sensor IR, beacon detection and recognition
int sensBeaconTurret() {
int beacon = 0;
if(beacon) {
// Location
}
}
// sensor IR, lab detection
int sensLab() {
return 0;
}
// ************************
// ** ACTUATOR FUNCTIONS **
// ************************
void stopMovement() {
}
void stopAllServos() {
}
void setup() {
}
void loop() {
}
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