TurnControl.cpp

[詳解]

#include "TurnControl.h"

TurnControl::TurnControl() : Pid(0.8, 1.2, 0.012, 30.0), turn(0.0), filter() {}

std::int8_t TurnControl::calculateTurnForPid(std::int8_t forward, std::int16_t light_value)
{
  calculate(static_cast<double>(filter.sensor(light_value)));
  double pid_value = get_output();
  double forward_percent = ((double)forward) / 100.0;
  pid_value *= forward_percent;
  turn += (pid_value - pid_value_old) / 2;
  pid_value_old = pid_value;
  return static_cast<std::int8_t>(limitOutput(turn));
}