RightNormalCourse.h

[詳解]

#ifndef __RIGHTNORMALCOURSE__
#define __RIGHTNORMALCOURSE__

#include "NormalCourse.h"

enum struct RightStatus {
  STRAIGHT_LONG,
  STRAIGHT_SHORT,
  CURVE_INSIDE_LONG,
  CURVE_INSIDE_SHORT,
  CURVE_OUTSIDE,
  SLOW,
  START,
  TRANSFER_ZONE,
  SLOW_DOWN,
  STOP,
};

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

  bool runNormalCourse(int16_t target_brightness, int16_t black, int16_t white, int16_t gray);

  bool statusCheck(int32_t countL, int32_t countR);

  int getStatus();

 private:
  RightStatus status;
  RightStatus old_status;

  const std::int16_t CALIBRATE_DISTANCE_R = 300;
  const std::int16_t FIRST_STRAIGHT_DISTANCE_R = 2500;
  const std::int16_t FIRST_CURVE_DISTANCE_R = 4495;
  const std::int16_t SECOND_STRAIGHT_DISTANCE_R = 5056;
  const std::int16_t SECOND_CURVE_DISTANCE_IN_R = 5640;
  const std::int16_t SECOND_CURVE_DISTANCE_OUT_R = 6542;
  const std::int16_t THIRD_STRAIGHT_DISTANCE_R = 7100;
  const std::int16_t THIRD_CURVE_DISTANCE_R = 8680;
  const std::int16_t FOURTH_STRAIGHT_DISTANCE_R = 11507;
  const std::int16_t FOR_DECREASE_JACKKNIFE_R = 11607;
  //const std::int16_t FOURTH_STRAIGHT_DISTANCE_R = 11607;


  const std::int16_t AFTER_GOAL_CURVE_R = 11900;
  const std::int16_t GRAY_FIND_AREA_R = 12650;
};

#endif