#pragma once

#include "state.h"

#include <stdint.h>

int get_error(uint8_t raw);

int is_crossroad(uint8_t raw);

int is_crossroad_robust(SensorBuffer *sb);

void print_binary(const uint8_t n);

uint8_t extract_ir_value(const uint8_t mask, const uint8_t ir_value);