Colony

#ifndef _hardware_ibom_h

#define _hardware_ibom_h

#include <dragonfly_lib.h>

#include "global.h"

/*

 * Inverse BOM sensor macros for left, right, and top positions. "Left" and "right" is as seen from the station, looking

 * towards the robot.

 */

#define IBOM_SENSOR_LEFT AN6

#define IBOM_SENSOR_RIGHT AN4

#define IBOM_SENSOR_TOP AN5

#define IBOM_EMITTER_PIN _PIN_F3        /* Connected to A5 on the board */

/* Delay in milliseconds for lookup table to update all entries */

#define IBOM_ANALOG_CYCLE_TIME 10        /* Measured time was 2.4 ms */

void ibom_init (void);

void ibom_set (bool on);

void ibom_read (uint16_t *top, uint16_t *left, uint16_t *right);

void ibom_update (void);

void ibom_debug (void);

#endif