#ifndef GRAYSCALESENSOR_H
#define GRAYSCALESENSOR_H

#include "zf_common_typedef.h"

enum {
GS_L4=0,GS_L3,GS_L2,GS_L1,GS_R1,GS_R2,GS_R3,GS_R4
};

extern volatile float grayscale_sensor_position; // 存储小车相对于黑线的位置

extern volatile float adc_normalized[8];

//模拟量转数字量的阈值
#define GS_THRESHOLD 0.5
#define GS_IS_ON_BLACK(x) (adc_normalized[x]>GS_THRESHOLD)

void grayscale_sensor_init(void);
void grayscale_sensor_scan(void);
void grayscale_sensor_set_white(void);
void grayscale_sensor_set_black(void);

#endif