// Bonus points constructor, which allows the user to connect a custom function
// to a bumper.
RedBotBumper::RedBotBumper(int pin, void(*functionPointer)(void))
{
setPinChangeInterrupt(pin, WHISKER);
pinMode(pin, INPUT_PULLUP);
setBumpFunction(pin, functionPointer);
_pin = pin; // set local variable for the pin
}
RedBotEncoder::RedBotEncoder(int lPin, int rPin)
{
// RedBot only breaks out ten valid pins:
// A0-A5 a.k.a. D14-19 (PCINT 8-13)
// D3 (PCINT 19)
// D9-D11 (PCINT 1-3)
// We'll need a whopping case statement to set up the pin change interrupts
// for this; in fact, we'll need two, but I'll abstract it to a function.
// A call to setPinChangeInterrupt() enables pin change interrupts for that
// pin, and pin change interrupts for the group that pin is a part of.
pinMode(lPin, INPUT);
pinMode(rPin, INPUT);
setPinChangeInterrupt(lPin, LENCODER);
setPinChangeInterrupt(rPin, RENCODER);
lCounts = 0;
rCounts = 0;
encoderObject = this; // We want a local pointer to the class member that is
// instantiated in the sketch, so we can manipulate its
// private members with other classes.
}
// Bonus points constructor, which allows the user to connect a custom function
// to a bumper.
RedBotBumper::RedBotBumper(int pin, void(*functionPointer)(void))
{
setPinChangeInterrupt(pin, WHISKER);
pinMode(pin, INPUT_PULLUP);
setBumpFunction(pin, functionPointer);
}
// Standard class constructor, assumes that you want to halt the motors on a
// bump. A more skilled programmer than I could figure out the error message
// I get if I try to use the brake() function that's a part of the RedBotMotor
// class; I worked around it by making a globally available one.
RedBotBumper::RedBotBumper(int pin)
{
setPinChangeInterrupt(pin, WHISKER);
pinMode(pin, INPUT_PULLUP);
setBumpFunction(pin, &brake);
}
