Navigator.h

[詳解]

#ifndef NAVIGATOR_H
#define NAVIGATOR_H

#include "Controller.h"
#include "Distance.h"
#include "Pid.h"
#include "SpeedControl.h"
#include "Rotation.h"
#include <cmath>

class Navigator {
 public:
  explicit Navigator(Controller& controller_, double Kp_ = 0.60, double Ki_ = 0.0,
                     double Kd_ = 0.0);

  void setPidGain(double Kp, double Ki, double Kd);

  void move(double specifiedDistance, int pwm = 30, const double pGain = 0.0);

  void moveAtSpecifiedSpeed(double specifiedDistance, int specifiedSpeed);

  void moveToSpecifiedColor(Color specifiedColor, int pwm = 30);

  void spin(double angle, bool clockwise = true, int pwm = 10);

 private:
  Distance distance;
  Controller& controller;
  PidGain pidForSpeed;
  bool hasArrived(double goalDistance, bool isForward);
  void setPwmValue(int pwm, double alpha = 0.0);
};

#endif