LeftCourse.h

[詳解]

#ifndef __LEFT_COURSE__
#define __LEFT_COURSE__

#define IS_SHORT_CUT 0

#include "AIAnswer.h"
#include "BasicWalker.h"
#include "Controller.h"
#include "LeftNormalCourse.h"
#include "Parking.h"
#include "Walker.h"

class LeftCourse {
 public:
  LeftCourse() = default;
  explicit LeftCourse(Controller& controller_) : walker(controller_), controller(controller_) {}

  void setFirstCode(int32_t);

  void run(int16_t brightness, int16_t black, int16_t white, int16_t gray);
  void runNormalCourse(int16_t brightness);
  void runBlockRange();

  void runParking(int16_t brightness, int16_t black, int16_t white, int16_t gray);

  void aiAnswerGo(std::int16_t brightness, std::int16_t black, std::int16_t white,
                  std::int16_t gray);

  void runGoBlack();

  void runGoStraight();

 private:
  Walker walker;
  Controller controller;
  int16_t target_brightness;
  LineTracerWalker lineTracer;
  BasicWalker basic{ controller };
  MotorAngle motor_angle;
  // AIAnswer ai_answer;
  // BasicWalker basicWalker;
  // Motor motor;
  // GyroSensor gyro_sensor;

  int32_t firstCode;
};

#endif