LeftCourse.cpp

[詳解]

#include "LeftCourse.h"

void LeftCourse::setFirstCode(int32_t code)
{
  firstCode = code;
}

void LeftCourse::run(int16_t brightness, int16_t black, int16_t white, int16_t gray)
{
  // runNormalCourse(brightness);

  controller.printDisplay(3, "Finished NormalArea");

  aiAnswerGo(brightness, black, white, gray);
  // Puzzle
  // runBlockRange();
  // controller.printDisplay(3, "Finished Puzzle");
  target_brightness = brightness;
  // Park
  // solveAiAnser();
  runParking(brightness, black, white, gray);
}

void LeftCourse::aiAnswerGo(int16_t brightness, int16_t black, int16_t white, int16_t gray)
{
  AIAnswer ai_answer{ controller, walker, white, black, gray, brightness };
  ai_answer.run();
}

// 黒線上を走る
void LeftCourse::runGoBlack()
{
  walker.reset();
  // 時計回りに45°回転
  walker.angleChange(45, -1);
  walker.run(10, 0);
  controller.tslpTsk(1000);
  while(1) {
    // 現在の色取得
    int16_t luminance = controller.getBrightness();
    if(luminance <= 51) {
      // 左に30度回転
      controller.tslpTsk(100);
      walker.angleChange(30, 1);
      // basic.spin(basic.SPIN_LEFT, 30);
      runGoStraight();
      break;
    }
    if(controller.buttonIsPressedBack()) {
      walker.reset();
      break;
    }
    controller.tslpTsk(4);
  }
}

void LeftCourse::runGoStraight()
{
  walker.reset();
  int16_t luminance = 0;
  int32_t aiDistance = 0;
  lineTracer.speedControl.setPid(2.0, 0.8, 0.1, 20.0);
  lineTracer.turnControl.setPid(1.1, 0.1, 0.2, target_brightness);  // 2.0,0.2,0.4 最高か
  while(1) {
    luminance = controller.getBrightness();
    aiDistance = motor_angle.absoluteAngleMean(walker.get_count_L(), walker.get_count_R());
    // 走る
    lineTracer.runLine(walker.get_count_L(), walker.get_count_R(), luminance);
    controller.printDisplay(4, "%d", aiDistance);
    if(lineTracer.getForward() < 0) {
      walker.run(0, 0);
    } else {
      walker.run(lineTracer.getForward(), lineTracer.getTurn());
    }
    if(controller.buttonIsPressedBack()) {
      walker.reset();
      break;
    }
    if(aiDistance >= 1200) {
      walker.reset();

      break;
    }
    controller.tslpTsk(4);
  }
}

// void LeftCourse::runParking(int16_t brightness, int16_t gray)
void LeftCourse::runParking(int16_t brightness, int16_t black, int16_t white, int16_t gray)
{
  Parking parking{ controller };
  parking.runParallel(brightness, black, white, gray);
}

void LeftCourse::runNormalCourse(int16_t brightness)
{
  LeftNormalCourse normalCourse;
  bool isNormalCourse;
  // NormalCourseを抜けるまでループする
  while(1) {
    auto luminance = controller.getBrightness();
    controller.printDisplay(4, "Brightness: %d, Target: %d", luminance, brightness);
    if(normalCourse.statusCheck(walker.get_count_L(), walker.get_count_R()))
      controller.speakerPlayTone(controller.noteFs6, 100);
    isNormalCourse = normalCourse.runNormalCourse(walker.get_count_L(), walker.get_count_R(),
                                                  luminance, brightness);

    normalCourse.runOrStop(walker);

    if(!isNormalCourse) {
      walker.run(0, 0);
      break;
    }
    if(controller.buttonIsPressedBack()) {
      walker.run(0, 0);
      break;
    }

    controller.tslpTsk(4);  // 4msec周期起動
  }
}

void LeftCourse::runBlockRange() {}