LeftNormalCourse.h

[詳解]

#ifndef __LEFTNORMALCOURSE__
#define __LEFTNORMALCOURSE__

#include "NormalCourse.h"

enum struct LeftStatus {
    STRAIGHT,
    STRAIGHT_SLOW,
    CURVE_RIGHT,
    CURVE_LEFT,
    CURVE_LEFT_SHORT,
    NEUTRAL,
    EDGE_CHANGE,
    EDGE_RESET,
    STOP
};

class LeftNormalCourse : public NormalCourse{
public:
    LeftNormalCourse();

    bool runNormalCourse (int32_t countL, int32_t countR, int8_t light_value);

    bool statusCheck(int32_t countL, int32_t countR);
    
    int getStatus();
private:
    LeftStatus status;
    LeftStatus old_status;
    bool isChangedEdge;
    int16_t time_count;
};

#endif