LineTracerWalker.cpp

[詳解]

#include "LineTracerWalker.h"

LineTracerWalker::LineTracerWalker() : minus(-1), forward(30), turn(0) {}

void LineTracerWalker::runLine(int32_t countL, int32_t countR, int16_t light_value)
{
  forward = speedControl.calculateSpeedForPid(countL, countR);
  turn = turnControl.calculateTurnForPid(forward, light_value) * minus;
}

void LineTracerWalker::setForward(int8_t setValue)
{
  forward = setValue;
}

void LineTracerWalker::setTurn(int8_t setValue)
{
  turn = setValue;
}

int8_t LineTracerWalker::getForward()
{
  return forward;
}

int8_t LineTracerWalker::getTurn()
{
  return turn;
}

void LineTracerWalker::isLeftsideLine(bool b)
{
  // Trueのときは線の左側なので-1
  // Falseのときは線の右側なので+1
  minus = (b == true) ? -1 : 1;
}