MotorAngle.h

[詳解]

#ifndef MOTOR_ANGLE_H
#define MOTOR_ANGLE_H
#include <cstdint>

class MotorAngle {
 private:
  std::int32_t pre_left_motor;   
  std::int32_t pre_right_motor;  

 public:
  MotorAngle() : pre_left_motor(0), pre_right_motor(0) {}
  void update(std::int32_t left_motor, std::int32_t right_motor);
  void reset();
  float absoluteAngleMean(std::int32_t left_motor, std::int32_t right_motor);
  float relativeAngleMean(std::int32_t current_left_motor, std::int32_t current_right_motor);
  float angularDifference(std::int32_t left_motor, std::int32_t right_motor);
  std::int32_t absoluteValueOfAngle(std::int32_t motor);
};

#endif