LeftNormalCourse.h

[詳解]

#ifndef __LEFTNORMALCOURSE__
#define __LEFTNORMALCOURSE__

#include "NormalCourse.h"

enum struct LeftStatus {
  STRAIGHT,
  EDGE_CHANGE,
  CURVE_LEFT,
  CURVE_LEFT_SHORT,
  STRAIGHT_SLOW,
  SECOND_CURVE,
  EDGE_RESET,
  THIRD_CURVE,
  STRAIGHT_THIRD,
  START,
  STOP,
};

class LeftNormalCourse : public NormalCourse {
 public:
  LeftNormalCourse();

  bool runNormalCourse(int32_t countL, int32_t countR, int16_t light_value,
                       int16_t target_brightness);

  bool statusCheck(int32_t countL, int32_t countR);

  int getStatus();

 private:
  LeftStatus status;
  LeftStatus old_status;
  bool isChangedEdge;
  int16_t time_count;

  const std::int16_t CALIBRATE_DISTANCE_L = 300;
  const std::int16_t FIRST_STRAIGHT_DISTANCE_L = 2850;
  const std::int16_t FIRST_CURVE_DISTANCE_L = 4950;
  const std::int16_t SECOND_STRAIGHT_DISTANCE_L = 6600;
  const std::int16_t SECOND_CURVE_DISTANCE_L = 7500;
  const std::int16_t THIRD_STRAIGHT_DISTANCE_L = 7900;
  const std::int16_t THIRD_CURVE_DISTANCE_L = 9600;
  const std::int16_t FOURTH_STRAIGHT_DISTANCE_L = 12000;
};

#endif