Distance.cpp

[詳解]

#include "Distance.h"

int32_t Distance::getDistanceTotal(int32_t countL, int32_t countR){
    leftMotorDegTotal = countL;
    rightMotorDegTotal = countR;
    return (leftMotorDegTotal + rightMotorDegTotal) / 2;
}

int32_t Distance::getDistanceCurrent(int32_t countL, int32_t countR){
    int32_t leftMotorDeg = countL - leftMotorDegOld;
    int32_t rightMotorDeg = countR - rightMotorDegOld;

    return (leftMotorDeg + rightMotorDeg) / 2;
}

void Distance::resetDistance(int32_t countL, int32_t countR){
    getDistanceTotal(countL, countR);
    leftMotorDegOld = leftMotorDegTotal;
    rightMotorDegOld = rightMotorDegTotal;
}