RightCourse.cpp

[詳解]

#include "RightCourse.h"

RightCourse::RightCourse():
     colorSensor( PORT_3 ), sl(walker.get_count_L(), walker.get_count_R()){}

void RightCourse::run(){
    runNormalCourse();
    //Sinkansen
    //Park
}

void RightCourse::runNormalCourse(){
    RightNormalCourse normalCourse;
    bool isNormalCourse;
    // NormalCourseを抜けるまでループする
    while ( 1 ) {
        sl.update(walker.get_count_L(), walker.get_count_R());
        if(normalCourse.statusCheck(walker.get_count_L(), walker.get_count_R())) ev3_speaker_play_tone (NOTE_FS6, 100);
        isNormalCourse = normalCourse.runNormalCourse();
        normalCourse.lineTracerWalker.runLine(walker.get_count_L(), walker.get_count_R(), colorSensor.getBrightness());
        
        if(normalCourse.lineTracerWalker.getForward() < 0){
            walker.run(0, 0);
        }else{
            walker.run( normalCourse.lineTracerWalker.getForward(), normalCourse.lineTracerWalker.getTurn());
        }
        if(! isNormalCourse){
            walker.run(0, 0);
            break;
        }
        if(ev3_button_is_pressed(BACK_BUTTON)){
            walker.run(0, 0);
            break;
        }
        
        tslp_tsk(4); // 4msec周期起動
    }
}