File content as of revision 0:03658c55ab2e:

#ifndef SENSORGEN_H
#define SENSORGEN_H

#include "mbed.h"
#include "camera.h"
#include "line.h"
#include "jy901.h"
#include "pin_config.h"

class sensor{
public :
    sensor();
       
    void sensorloop();
       
//    float jy901();
       
//    float hcsr04();
       
//    float camera();
    
    int line[6];
    float angle;
    float angleLimit;
    float ballAngle;
    float ballRange;
    bool ballKeep;
    float blueAngle;
    float blueRange;
    float yellowAngle;
    float yellowRange;
    bool ballSig,blueSig,yellowSig;
//private:
    Thread thread;
    Line *_line[6];
    Cam camera;
    JY901 jy;
    DigitalIn limit;
    Timer ballTimeout;
    Timer blueTimeout;
    Timer yellowTimeout;
    bool ballTimeoutState,blueTimeoutState,yellowTimeoutState;
    int angleCount;
    int ballx,bally,bluex,bluey,yellowx,yellowy;
    float tempAngle,rawAngle;
};

#endif