#include <RightCourse.h>

RightCourse 連携図

公開メンバ関数
	RightCourse ()=default

	RightCourse (Controller &controller_, std::int32_t ipc)

void	runNormalCourse (std::int16_t brightness)

void	run (std::int16_t brightness, std::int16_t black, std::int16_t white, std::int16_t gray)

void	runParking (std::int16_t brightness, LineTracerWalker lineTracer, std::int16_t black, std::int16_t white)

void	runPuzzle (std::int16_t target_brightness)

void	moveBlockAreaTo8 (std::int16_t target_brightness)

void	throughArea ()

void	runNormalCourse (std::int16_t brightness, std::int16_t black, std::int16_t white, std::int16_t gray)

void	solveBlockPuzzle (std::int16_t brightness)

詳解

Rコースを走らせるときに呼び出されるクラス

RightCourse.h の 21 行目に定義があります。

構築子と解体子

RightCourse::RightCourse ( )

default

コンストラクタ。センサ類の初期化を行う

RightCourse::RightCourse	(	Controller &	controller_,
		std::int32_t	ipc
	)

inlineexplicit

RightCourse.h の 25 行目に定義があります。

     : walker(controller_), controller(controller_), initialPositionCode(ipc)
   {
   } 

関数詳解

void RightCourse::moveBlockAreaTo8 ( std::int16_t target_brightness )

RightCourse.cpp の 39 行目に定義があります。

 {
   Distinguisher d{ controller };
   MotorAngle motor_angle;
   bool isAlreadyChangedGear = false;
 
   lineTracer.speedControl.setPid(5.0, 1.0, 0.1, 90.0);
   lineTracer.turnControl.setPid(2.0, 1.0, 0.14, target_brightness);
   controller.tslpTsk(500);
 
   walker.reset();
   while(1) {
     Color result = d.getColor();
     auto luminance = controller.getBrightness();
     lineTracer.runLine(walker.get_count_L(), walker.get_count_R(), luminance);
     walker.run(lineTracer.getForward(), lineTracer.getTurn());
     controller.printDisplay(4, "Brightness: %d, Target: %d", luminance, result);
     if(result == Color::RED) break;
     if(!isAlreadyChangedGear
        && motor_angle.absoluteAngleMean(walker.get_count_L(), walker.get_count_R()) > 1750) {
       lineTracer.speedControl.setPid(5.0, 1.0, 0.1, 25.0);
       lineTracer.turnControl.setPid(1.0, 1.0, 0.14, target_brightness);
       controller.speakerPlayTone(controller.noteFs6, 100);
       isAlreadyChangedGear = true;
     }
     controller.tslpTsk(4);
   }
 }

呼び出し関係図:

void RightCourse::run	(	std::int16_t	brightness,
		std::int16_t	black,
		std::int16_t	white,
		std::int16_t	gray
	)

Rコースの走行範囲の切り替えを行う

RightCourse.cpp の 15 行目に定義があります。

 {
   LineTracerWalker lineTracer;
   runNormalCourse(brightness, black, white, gray);
   controller.tslpTsk(400);
   solveBlockPuzzle(brightness);
   runParking(brightness, lineTracer, black, white);
 }

呼び出し関係図:

void RightCourse::runNormalCourse ( std::int16_t brightness )

各エリアの処理を呼び出す NormalCourseエリアの処理

被呼び出し関係図:

void RightCourse::runNormalCourse	(	std::int16_t	brightness,
		std::int16_t	black,
		std::int16_t	white,
		std::int16_t	gray
	)

RightCourse.cpp の 102 行目に定義があります。

 {
   RightNormalCourse normalCourse;
   bool isNormalCourse;
 
   /*灰色を検知用*/
   /*
   int8_t counter = 0;
   std::int16_t target_brightness_gray = (white + gray) / 2;
   */
 
   // NormalCourseを抜けるまでループする
   while(1) {
     auto luminance = controller.getBrightness();
 
     /*灰色を検知用*/
     /*
     auto distance_total_r = (walker.get_count_L() + walker.get_count_R()) / 2;
     */
     controller.printDisplay(4, "Brightness: %d, Target: %d", luminance, brightness);
     if(normalCourse.statusCheck(walker.get_count_L(), walker.get_count_R()))
       controller.speakerPlayTone(controller.noteFs6, 100);
     isNormalCourse = normalCourse.runNormalCourse(brightness, black, white, gray);
     normalCourse.lineTracerWalker.runLine(walker.get_count_L(), walker.get_count_R(), luminance);
 
     normalCourse.runOrStop(walker);
     if(!isNormalCourse) {
       walker.run(0, 0);
       break;
     }
     if(controller.buttonIsPressedBack()) {
       walker.run(0, 0);
       break;
     }
     /*灰色を検知したら止まる*/
     /*
     const std::std::int16_t AFTER_GOAL_CURVE_R = 11900;
       if(distance_total_r > AFTER_GOAL_CURVE_R && target_brightness_gray + 20 > luminance &&
     luminance > target_brightness_gray - 3){ if(counter > 10){ controller.printDisplay(4, "Find Gray
     Line¥n Brightness: %d, Target: %d", luminance, brightness);
           controller.speakerPlayTone(controller.noteFs6, 100);
         }
         controller.speakerPlayTone(controller.noteFs6, 20);
         counter++;
       }else{
         counter = 0;
       }
     */
     controller.tslpTsk(4);  // 4msec周期起動
   }
 }

呼び出し関係図:

void RightCourse::runParking	(	std::int16_t	brightness,
		LineTracerWalker	lineTracer,
		std::int16_t	black,
		std::int16_t	white
	)

RightCourse.cpp の 32 行目に定義があります。

 {
   Parking parking{ controller };
   parking.runParpendicular(brightness, lineTracer, black, white);
 }

被呼び出し関係図:

void RightCourse::runPuzzle ( std::int16_t target_brightness )

RightCourse.cpp の 68 行目に定義があります。

 {
   Controller controller;
   Distinguisher d{ controller };
   LineTracerWalker lineTracerWalker;
 
   lineTracerWalker.speedControl.setPid(1.0, 0.8, 0.8, 60.0);
   lineTracerWalker.turnControl.setPid(1.0, 1.7, 0.6, target_brightness);
   walker.reset();
   Color result = d.getColor();
   controller.printDisplay(6, "in the loop, Color: %d", static_cast<int>(result));
   controller.speakerPlayTone(controller.noteFs4, 100);
   while(1) {
     Color result = d.getColor();
     auto luminance = controller.getBrightness();
     lineTracerWalker.runLine(walker.get_count_L(), walker.get_count_R(), luminance);
     walker.run(lineTracerWalker.getForward(), lineTracerWalker.getTurn());
     controller.printDisplay(4, "Brightness: %d, Target: %d", luminance, result);
     controller.printDisplay(6, "out the loop, Color: %d", static_cast<int>(result));
   }
   controller.tslpTsk(4);
 }

呼び出し関係図:

void RightCourse::solveBlockPuzzle ( std::int16_t brightness )

RightCourse.cpp の 25 行目に定義があります。

 {
   walker.reset();
   BlockSolver blockSolver{ controller, walker, initialPositionCode, brightness };
   blockSolver.run();
 }

呼び出し関係図:

被呼び出し関係図:

void RightCourse::throughArea ( )

RightCourse.cpp の 91 行目に定義があります。

 {
   //ブロックエリアを通り過ぎる関数
   BasicWalker basic{ controller };
   Controller controller;
   controller.speakerPlayTone(controller.noteFs4, 100);
   basic.reset();
   basic.setPidWithoutTarget(5.0, 1.0, 0.1);
   basic.goStraight(15, 140);
 }

呼び出し関係図:

このクラス詳解は次のファイルから抽出されました:

str/apps/include/RightCourse.h
str/apps/src/RightCourse.cpp

公開メンバ関数

詳解

構築子と解体子

関数詳解