BasicWalker.cpp

[詳解]

#include "BasicWalker.h"

BasicWalker::BasicWalker ():
    leftWheel ( PORT_C ), rightWheel ( PORT_B ) {
    ev3_speaker_set_volume ( 100 ) ;
}

void BasicWalker::spin ( int32_t forward, bool rotationalDirection, int32_t angle ) {
    const int8_t reverseValue = rotationalDirection == SPIN_RIGHT
        ?  1
        : -1;

    leftWheel.reset () ;
    rightWheel.reset () ;
    tslp_tsk ( 100 ) ;
    ev3_speaker_play_tone ( NOTE_FS6, 100 ) ;
    msg_f ( "Spin...", 2 ) ;
    leftWheel.setBrake ( false ) ;
    rightWheel.setBrake ( false ) ;
    leftReverseValue = reverseValue ;
    rightReverseValue = reverseValue * -1 ;
    while ( ( leftWheel.getCount () * leftReverseValue ) < ( angle / 0.64 ) ) { // 数値は角度から回転数への変換に必要な値
        leftWheel.setPWM ( forward * leftReverseValue ) ;
        rightWheel.setPWM ( forward * rightReverseValue ) ;
        tslp_tsk ( 2 ) ;
    }
    leftWheel.setPWM ( 0 ) ;
    rightWheel.setPWM ( 0 ) ;
}

void BasicWalker::goStraight ( int32_t forward, int32_t distance ) {
    leftWheel.reset () ;
    rightWheel.reset () ;
    tslp_tsk ( 100 ) ;
    ev3_speaker_play_tone ( NOTE_FS6, 100 ) ;
    msg_f ( "Go...", 3 ) ;
    leftWheel.setBrake ( false ) ;
    rightWheel.setBrake ( false ) ;
    while ( ( ( leftWheel.getCount () + rightWheel.getCount () ) / 2 ) < distance ) {
        leftWheel.setPWM ( forward ) ;
        rightWheel.setPWM ( forward ) ;
        tslp_tsk ( 4 ) ;
    }
    leftWheel.setPWM ( 0 ) ;
    rightWheel.setPWM ( 0 ) ;
}

void BasicWalker::backStraight ( int32_t forward, int32_t distance ) {
    leftWheel.reset () ;
    rightWheel.reset () ;
    tslp_tsk ( 100 ) ;
    ev3_speaker_play_tone ( NOTE_FS6, 100 ) ;
    msg_f ( "Go...", 3 ) ;
    leftWheel.setBrake ( false ) ;
    rightWheel.setBrake ( false ) ;
    while ( ( ( leftWheel.getCount () + rightWheel.getCount () ) / 2 ) > ( -1 * distance ) ) {
        leftWheel.setPWM ( -1 * forward ) ;
        rightWheel.setPWM ( -1 * forward ) ;
        tslp_tsk ( 4 ) ;
    }
    leftWheel.setPWM ( 0 ) ;
    rightWheel.setPWM ( 0 ) ;
}