SpeedControl.h

[詳解]

#ifndef __SPEEDCONTROL__
#define __SPEEDCONTROL__

#include "Pid.h"
#include <array>
#include <cstdint>

class SpeedControl: public Pid {
public:
    SpeedControl();
    
    std::int32_t calculateSpeedForPid(std::int32_t curAngleL, std::int32_t curAngleR);
    std::int16_t getSpeed100ms();
        
    std::int16_t speed_value_all;

protected:
    std::int8_t calcDistance4ms(std::int32_t curAngleL, std::int32_t curAngleR);

private:
    double forward;
    std::int32_t preAngleL;
    std::int32_t preAngleR;
    std::array<std::int16_t, 25> speed_value;
    std::uint8_t speedCount;
    double pid_value_old;
    std::int8_t distance4ms;
};


#endif