Globals.h

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#include "Motor.h"
#include "Ultrasonic.h"
#include "Switch.h"
#include "LEDStrip.h"
#include "Disc.h"

#define RED 255, 0, 0 
#define GREEN 0, 255, 0 
#define BLUE 0, 0, 255 
#define YELLOW 255, 255, 0 
#define ORANGE 255, 140, 0 
#define MAGENTA 255, 0, 255 
#define BLACK 0, 0, 0 
#define WHITE_FULL 255, 255, 255 
#define WHITE 255, 255, 135 
#define WHITE_MEDIUM 128, 128, 67 
#define WHITE_LOW 64, 64, 34 
#define WHITE_VERY_LOW 48, 48, 25 
#define WHITE_VERY_VERY_LOW 32, 32, 17 
void setupGlobals();
void frontDiscISR();
void backDiscISR();

const int BIT_1_SWITCH_PIN = 63; 
Switch bit1Switch(BIT_1_SWITCH_PIN); 
const int BIT_2_SWITCH_PIN = 64; 
Switch bit2Switch(BIT_2_SWITCH_PIN); 
const int BIT_3_SWITCH_PIN = 65; 
Switch bit3Switch(BIT_3_SWITCH_PIN); 
const int RIGHT_MOTOR_DIRECTION_PIN = 14; 
const int RIGHT_MOTOR_PWM_PIN = 12; 
const int RIGHT_MOTOR_TACHOMETER = 18; 
Motor rightMotor(RIGHT_MOTOR_DIRECTION_PIN, RIGHT_MOTOR_PWM_PIN,
                 RIGHT_MOTOR_TACHOMETER); 
const int LEFT_MOTOR_DIRECTION_PIN = 15; 
const int LEFT_MOTOR_PWM_PIN = 11; 
const int LEFT_MOTOR_TACHOMETER = 19; 
Motor leftMotor(LEFT_MOTOR_DIRECTION_PIN, LEFT_MOTOR_PWM_PIN,
                LEFT_MOTOR_TACHOMETER); 
Disc backDisc(&rightMotor); 
Disc frontDisc(&leftMotor); 
const int BACKLIGHT_RED_PIN = 6; 
const int BACKLIGHT_GREEN_PIN = 8; 
const int BACKLIGHT_BLUE_PIN = 7; 
const int LED_PIN = 13; 
LEDStrip ledBacklights(BACKLIGHT_RED_PIN, BACKLIGHT_GREEN_PIN,
                       BACKLIGHT_BLUE_PIN); 
const int US_TRIGGER = 4; 
const int US_ECHO = 3; 
Ultrasonic ultrasonicSensor(US_TRIGGER,
                            US_ECHO); 
void setupGlobals() {
    Serial.begin(9600);
    pinMode(LED_PIN, OUTPUT);

    attachInterrupt(digitalPinToInterrupt(frontDisc.motor->getTachAttachedPin()), frontDiscISR, RISING);
    attachInterrupt(digitalPinToInterrupt(backDisc.motor->getTachAttachedPin()), backDiscISR, RISING);
}

void frontDiscISR() {
    frontDisc.motor->interruptServiceRoutine();
}

void backDiscISR() {
    backDisc.motor->interruptServiceRoutine();
}

void easterEgg(){
    for(int i = 0; i <= 2; i++){
        ledBacklights.setColor(random(0, 255), random(0, 255), random(0, 255));
        delay(150);
        ledBacklights.setColor(0,0,0);
        delay(100);
    }

    delay(100);

    for(int i = 0; i <=2; i ++){
        ledBacklights.setColor(random(0, 255), random(0, 255), random(0, 255));
        delay(250);
        ledBacklights.setColor(0,0,0);
        delay(100);
    }

    delay(100);

    for(int i = 0; i <= 2; i++){
        ledBacklights.setColor(random(0, 255), random(0, 255), random(0, 255));
        delay(150);
        ledBacklights.setColor(0,0,0);
        delay(100);
    }
}