Robot.h

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#ifndef ROBOT_H
#define ROBOT_H

#if defined(ARDUINO) && ARDUINO >= 100
#include "Arduino.h"
#else
#include "WProgram.h"
#endif

#include "NonLinearControl.h"
#include <BnrOneA.h>
#include "Intersection.h"

class Robot
{
  public:
    Robot();
    

    void init();
    

    bool areThereObstacles();
    

    void sendToMotors(MoveType robotMove, char lineSignature);
        

    void EEPROMWriteInt(int p_address, int p_value);
    

    unsigned int EEPROMReadInt(int p_address);
    
    void writeEEPROM();
    
    void readEEPROM();
    
    void readQTR8A(unsigned int* line);
    
    int readLineSensors(unsigned int* sensor_values);
    
    void Menu();

    BnrOneA _one;                   
    int _speed;                     
    int _leftWheelSpeed;            
    int _rightWheelSpeed;           
    bool _debug;                    
    int _pause;                     
    NonLinearControl _nonLinearControl; 
};

#endif /* ROBOT_H */