Distance.cpp

[詳解]

#include "Distance.h"

int32_t Distance::getDistanceTotal(int32_t countL, int32_t countR)
{
  leftMotorDegTotal = countL;
  rightMotorDegTotal = countR;
  return (leftMotorDegTotal + rightMotorDegTotal) / 2;
}

int32_t Distance::getDistanceCurrent(int32_t countL, int32_t countR)
{
  int32_t leftMotorDeg = countL - leftMotorDegOld;
  int32_t rightMotorDeg = countR - rightMotorDegOld;

  return (leftMotorDeg + rightMotorDeg) / 2;
}

void Distance::resetDistance(int32_t countL, int32_t countR)
{
  getDistanceTotal(countL, countR);
  leftMotorDegOld = leftMotorDegTotal;
  rightMotorDegOld = rightMotorDegTotal;
}