SpeedControl.h

[詳解]

#ifndef __SPEEDCONTROL__
#define __SPEEDCONTROL__

#include "Pid.h"
#include <array>
#include <cstdint>

class SpeedControl : public Pid {
 public:
  SpeedControl();

  std::int32_t calculateSpeedForPid(std::int32_t curAngleL, std::int32_t curAngleR);
  std::int16_t getSpeed100ms();

  std::int16_t speed_value_all;

 protected:
  std::int8_t calcDistance4ms(std::int32_t curAngleL, std::int32_t curAngleR);

 private:
  double forward;
  std::int32_t preAngleL;
  std::int32_t preAngleR;
  std::array<std::int16_t, 25> speed_value;
  std::uint8_t speedCount;
  double pid_value_old;
  std::int8_t distance4ms;
};

#endif