Merge pull request #4 from Arekushi/patch-1.2

🔧 Code adjustments

Author: Arekushi

.pio/build/uno/.sconsign27.db.dblite

@@ -1,62 +1,48 @@
 #include <Arduino.h>
 #include <Car.h>
-
 #include <Ultra.h>
 #include <StateMachine.h>
 
-/* Region Define */
-#define ultra_port1 7
-#define ultra_port2 6
-
-const String infra_names[] = { "Left", "Center", "Right" };
-const int8_t infra_ports[] = { A0, A1, A2 };
+Car::Car(State<Car> *states[]) {
+    setupInfraReds();
+    setupEngines();
 
-const int8_t left_engine_ports[] = { 11, 10 };
-const int8_t right_engine_ports[] = { 5, 9 };
+    memcpy(this->states, states, 10);
 
-/* Methods */
-Car::Car(State<Car> *state) {
     ultra = new Ultra(ultra_port1, ultra_port2);
-    machine = new StateMachine<Car>(*this, state);
+    machine = new StateMachine<Car>(*this, this->states[0]);
+}
 
-    for(size_t i = 0; i < infra_names->length() - 1; i++) {
-        infras[i] = new InfraRed(infra_names[i], infra_ports[i]);
+void Car::showSensors() {
+    for(size_t i = 0; i < 3; i++) {
+        infras[i]->show();
     }
 
-    for(size_t i = 0; i < 2; i++) {
-        left_engine[i] = new Engine(left_engine_ports[i]);
-        right_engine[i] = new Engine(right_engine_ports[i]);
-    }
+    ultra->show();
 }
 
-void Car::goBack() {
-    left_engine[0]->write(35);
-    left_engine[1]->write(0);
+//#region [Moviment Methods]
+void Car::goBack(int8_t power) {
+    left_engines[0]->write(power);
+    left_engines[1]->write(LOW);
 
-    right_engine[0]->write(35);
-    right_engine[1]->write(35);
+    right_engines[0]->write(power);
+    right_engines[1]->write(LOW);
 }
 
-void Car::goForward() {
-    left_engine[0]->write(0);
-    left_engine[1]->write(35);
+void Car::goForward(int8_t power) {
+    left_engines[0]->write(LOW);
+    left_engines[1]->write(power);
 
-    right_engine[0]->write(0);
-    right_engine[1]->write(35);
+    right_engines[0]->write(LOW);
+    right_engines[1]->write(power);
 }
 
 void Car::stop() {
-    left_engine[0]->write(35);
-    left_engine[1]->write(35);
+    left_engines[0]->write(HIGH);
+    left_engines[1]->write(HIGH);
 
-    right_engine[0]->write(35);
-    right_engine[1]->write(35);
-}
-
-void Car::showSensors() {
-    for(size_t i = 0; i < infra_names->length() - 1; i++) {
-        infras[i]->show();
-    }
-
-    ultra->show();
+    right_engines[0]->write(HIGH);
+    right_engines[1]->write(HIGH);
 }
+//#endregion

.pio/build/uno/firmware.elf

@@ -7,21 +7,45 @@
 #include <InfraRed.h>
 #include <Engine.h>
 
+#define ultra_port1 7
+#define ultra_port2 6
+
+const String infras_names[] = { "Left", "Center", "Right" };
+const int8_t infras_ports[] = { A0, A1, A2 };
+
+const int8_t left_engines_ports[] = { 11, 10 };
+const int8_t right_engines_ports[] = { 5, 9 };
+
 class Car {
 
     public:
+        InfraRed *infras[3];
+        Engine *left_engines[2];
+        Engine *right_engines[2];
+        State<Car> *states[10];
         Ultra *ultra;
         StateMachine<Car> *machine;
-        InfraRed *infras[3];
-        
-        Engine *left_engine[2];
-        Engine *right_engine[2];
 
-        Car(State<Car> *state);
-        void stop();
-        void goForward();
-        void goBack();
+        Car(State<Car> *states[]);
         void showSensors();
+
+        void goForward(int8_t power);
+        void goBack(int8_t power);
+        void stop();
+    
+    private:
+        void setupInfraReds() {
+            for(size_t i = 0; i < 3; i++) {
+                infras[i] = new InfraRed(infras_names[i], infras_ports[i]);
+            }
+        }
+
+        void setupEngines() {
+            for(size_t i = 0; i < 2; i++) {
+                left_engines[i] = new Engine(left_engines_ports[i]);
+                right_engines[i] = new Engine(right_engines_ports[i]);
+            }
+        }
 };
 
 #endif