BlockBingo.h

[詳解]

#ifndef BLOCKBINGO_H
#define BLOCKBINGO_H

#include <array>
#include "Controller.h"
#include "Navigator.h"

enum class Order { MOVE, SPIN, COLOR };

struct OrderProperty {
  Order orderName;    //命令の内容
  double paramValue;  // Navigator.spinの引数で使用する
  Color paramColor;   // Navigator.moveToSpecifiedColorの引数で使用する
};

class BlockBingo {
 private:
  Controller& controller;

 public:
  explicit BlockBingo(Controller& controller_);

  void moveCircle4OfL();

  template <int N>
  void execOrder(std::array<OrderProperty, N>& propertys)
  {
    Navigator navigator(controller);

    for(const auto& property : propertys) {
      if(property.orderName == Order::MOVE) {
        navigator.move(350.0, 10, 0.6);
      } else if(property.orderName == Order::SPIN) {
        navigator.spin(property.paramValue, (property.paramValue > 0));
      } else if(property.orderName == Order::COLOR) {
        navigator.moveToSpecifiedColor(property.paramColor, 10);
      } else {
        controller.stopMotor();
        controller.speakerPlayToneFS6(100);
      }
    }
  }
};

#endif