14 bool checkHead(
unsigned long);
15 int getSakaMoveAngle(u8);
16 void checkWall(
float *);
17 u32 checkWallEnm(
float *);
20 bool hasSensorFoot() {
return mpSensorFoot !=
nullptr; }
21 bool hasSensorHead() {
return mpSensorHead !=
nullptr; }
22 bool hasSensorWall() {
return mpSensorWall !=
nullptr; }
28 WATER_CHECK_WATER_BUBBLE,
34 dBcSensor_c *mpSensorFoot;
35 dBcSensor_c *mpSensorHead;
36 dBcSensor_c *mpSensorWall;
55 static int checkWaterDepth(
float,
float, u8, u8,
float *);
56 static WATER_TYPE_e checkWater(
float,
float, u8,
float *);
57 static bool checkBg(
float,
float, u8, u8,
unsigned long);
59 bool isHead() {
return mFlags & 0b00000000000000000000000000010101; }
60 bool isWallL() {
return mFlags & 0b00000000000000000000000000101010; }
62 bool isWallR() {
return mFlags & 0b00111100000000000000000000000000; }