MotorAngle.cpp

[詳解]

#include "MotorAngle.h"

void MotorAngle::update(std::int32_t left_motor, std::int32_t right_motor)
{
  // 左モータ角度の過去値を更新
  pre_left_motor = left_motor;
  // 右モータ角度の過去値を更新
  pre_right_motor = right_motor;
}

void MotorAngle::reset()
{
  pre_left_motor = 0;
  pre_right_motor = 0;
}

float MotorAngle::absoluteAngleMean(std::int32_t left_motor, std::int32_t right_motor)
{
  return (left_motor + right_motor) / 2.0f;
}

float MotorAngle::relativeAngleMean(std::int32_t current_left_motor,
                                    std::int32_t current_right_motor)
{
  // 左モータの相対角度を求める
  float left_motor = current_left_motor - pre_left_motor;
  // 右モータの相対角度を求める
  float right_motor = current_right_motor - pre_right_motor;

  // 左右モータの過去値を現在値に更新
  update(current_left_motor, current_right_motor);

  return (left_motor + right_motor) / 2.0f;
}

float MotorAngle::angularDifference(std::int32_t left_motor, std::int32_t right_motor)
{
  return static_cast<float>(right_motor - left_motor);
}

std::int32_t MotorAngle::absoluteValueOfAngle(std::int32_t motor)
{
  return (motor > 0) ? motor : -motor;
}