LineTracer.h

[詳解]

#ifndef LINE_TRACER_H
#define LINE_TRACER_H

#include "Controller.h"
#include "Distance.h"
#include "SpeedControl.h"
#include "TurnControl.h"
#include "Pid.h"

struct NormalCourseProperty {
  // 目標距離
  int targetDistance;
  // 目標スピード
  int targetSpeed;
  // speedPid
  PidGain speedPid;
  // turnPid
  PidGain turnPid;
};

class LineTracer {
 public:
  LineTracer(Controller& controller_, int targetBrightness_, bool isLeftCourse_);

  void run(NormalCourseProperty& settings);

  void setTargetBrightness(int targetBrightness_);

 private:
  Controller& controller;
  int targetBrightness;
  bool isLeftCourse;
  Distance distance;

  SpeedControl speedControl;
  TurnControl turnControl;
};

#endif