/****************************************************************

Main CPP for RedBot whisker bumper.

This code is beerware; if you use it, please buy me (or any other

SparkFun employee) a cold beverage next time you run into one of

us at the local.

21 Jan 2014- Mike Hord, SparkFun Electronics

Code developed in Arduino 1.0.5, on an SparkFun Redbot v12.

****************************************************************/

#include "RedBot.h"

#include <Arduino.h>

void (*whiskerAction[10])(void); // Pointer to an array of functions

// describing what should happen if a

// given pin has a whisker event.

// 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)

}

// Bonus points constructor, which allows the user to connect a custom function

// to a bumper.

RedBotBumper::RedBotBumper(int pin, void(*functionPointer)(void))

}

// Non-class function that puts the brakes on. This is the default behavior if

// the user doesn't specify a custom function for the bumper trigger.

void brake(void)

}

// I elected to create a function just to do this, rather than trying to wrap

// it into the setPinChangeInterrupt() function. When a bumper action occurs,

// a function will be called. By default, it's to brake the motors; users can

// write a function of their own and this function will point the interrupt

// at that custom function instead.

void RedBotBumper::setBumpFunction(int pin, void(*functionPointer)(void))

}