#include?
#include?

#include?“../../utilities/Utilities.hpp“
#include?“DistanceCar.hpp“

namespace
{
const?unsigned?long?kStopAttemptInterval?=?100;
const?uint8_t?kMaxStopAttempts???????????=?3;
}?//?namespace

using?namespace?smartcarlib::constants::car;
using?namespace?smartcarlib::constants::control;
using?namespace?smartcarlib::utils;

DistanceCar::DistanceCar（Control&?control?Odometer&?odometer?Runtime&?runtime）
????:?SimpleCar（control）
?????mControl（control）
?????mOdometerLeft（odometer）
?????mOdometerRight（odometer）
?????mRuntime（runtime）
?????mCruiseControlEnabled{?false?}
?????mProportional{?0?}
?????mIntegral{?0?}
?????mDerivative{?0?}
?????mFrequency{?0?}
?????mPreviousUpdate{?0?}
?????mTargetSpeed{?0?}
?????mPreviousControlledSpeed{?0?}
?????mIntegratedError{?0?}
?????mPreviousError{?0?}
{
}

DistanceCar::DistanceCar（Control&?control
?????????????????????????Odometer&?odometerLeft
?????????????????????????Odometer&?odometerRight
?????????????????????????Runtime&?runtime）
????:?SimpleCar（control）
?????mControl（control）
?????mOdometerLeft（odometerLeft）
?????mOdometerRight（odometerRight）
?????mRuntime（runtime）
?????mCruiseControlEnabled{?false?}
?????mProportional{?0?}
?????mIntegral{?0?}
?????mDerivative{?0?}
?????mFrequency{?0?}
?????mPreviousUpdate{?0?}
?????mTargetSpeed{?0?}
?????mPreviousControlledSpeed{?0?}
?????mIntegratedError{?0?}
?????mPreviousError{?0?}
{
}

long?DistanceCar::getDistance（）
{
????return?areOdometersAttached（）???（mOdometerLeft.getDistance（）?+?mOdometerRight.getDistance（））?/?2
??????????????????????????????????:?static_cast（kOdometersNotAttachedError）;
}

void?DistanceCar::setSpeed（float?speed）
{
????if?（!areOdometersAttached（））
????{
????????SimpleCar::setSpeed（speed）;
????????return;
????}
????speed?=?getConstrain（
????????speed?static_cast（kMinControlSpeed）?static_cast（kMaxControlSpeed））;
????//?If?odometers?are?directional?and?cruise?control?is?enabled?then?we?don‘t
????//?need?to?do?more?since?the?speed?controller?will?take?care?of?the?speed
????if?（areOdometersDirectional（）?&&?mCruiseControlEnabled）
????{
????????mTargetSpeed?=?speed;
????????return;
????}
????//?If?we?need?to?change?direction?of?movement?while?the?cruise?control?is
????//?enabled?then?we?need?to?stop?the?car?before?proceeding?to?a?different
????//?direction?since?the?car?cannot?determine?which?direction?it?is?actually
????//?moving.
????auto?newSpeedAtOppositeDirection?????????=?mTargetSpeed?*?speed?????auto?changeOfDirectionWhileCruiseControl?=?mCruiseControlEnabled?&&?newSpeedAtOppositeDirection;
????//?Alternatively?we?also?need?to?stop?the?car?if?the?supplied?speed?is?‘0‘
????//?and?the?car?is?not?already?stopped.
????auto?carIsAlreadyStopped?=?areAlmostEqual（mTargetSpeed?static_cast（kIdleControlSpeed））;
????auto?carWantsToStop??????=?areAlmostEqual（speed?static_cast（kIdleControlSpeed））;
????auto?carShouldStop???????=?carWantsToStop?&&?!carI

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2019-09-17?22:29??smartcar_shield-master\
?????文件??????????85??2019-09-17?22:29??smartcar_shield-master\.bettercodehub.yml
?????文件????????2634??2019-09-17?22:29??smartcar_shield-master\.clang-format
?????文件??????????26??2019-09-17?22:29??smartcar_shield-master\.gitattributes
?????文件?????????267??2019-09-17?22:29??smartcar_shield-master\.gitignore
?????文件????????1684??2019-09-17?22:29??smartcar_shield-master\.travis.yml
?????文件????????3365??2019-09-17?22:29??smartcar_shield-master\CODE_OF_CONDUCT.md
?????文件?????????747??2019-09-17?22:29??smartcar_shield-master\CONTRIBUTING.md
?????目錄???????????0??2019-09-17?22:29??smartcar_shield-master\CmakeModules\
?????文件????????9212??2019-09-17?22:29??smartcar_shield-master\CmakeModules\CodeCoverage.cmake
?????文件???????12898??2019-09-17?22:29??smartcar_shield-master\Doxyfile
?????文件??????????38??2019-09-17?22:29??smartcar_shield-master\ISSUE_TEMPLATE.md
?????文件????????1072??2019-09-17?22:29??smartcar_shield-master\LICENSE
?????文件??????????35??2019-09-17?22:29??smartcar_shield-master\PULL_REQUEST_TEMPLATE.md
?????文件????????6465??2019-09-17?22:29??smartcar_shield-master\README.md
?????目錄???????????0??2019-09-17?22:29??smartcar_shield-master\docs\
?????文件???????????0??2019-09-17?22:29??smartcar_shield-master\docs\.nojekyll
?????文件????????2319??2019-09-17?22:29??smartcar_shield-master\docs\README.md
?????目錄???????????0??2019-09-17?22:29??smartcar_shield-master\examples\
?????目錄???????????0??2019-09-17?22:29??smartcar_shield-master\examples\BareMinimum\
?????文件?????????152??2019-09-17?22:29??smartcar_shield-master\examples\BareMinimum\BareMinimum.ino
?????目錄???????????0??2019-09-17?22:29??smartcar_shield-master\examples\Car\
?????目錄???????????0??2019-09-17?22:29??smartcar_shield-master\examples\Car\DistanceCar\
?????文件?????????846??2019-09-17?22:29??smartcar_shield-master\examples\Car\DistanceCar\DistanceCar.ino
?????目錄???????????0??2019-09-17?22:29??smartcar_shield-master\examples\Car\FullSerialControl\
?????文件?????????639??2019-09-17?22:29??smartcar_shield-master\examples\Car\FullSerialControl\FullSerialControl.ino
?????目錄???????????0??2019-09-17?22:29??smartcar_shield-master\examples\Car\HeadingCar\
?????文件?????????612??2019-09-17?22:29??smartcar_shield-master\examples\Car\HeadingCar\HeadingCar.ino
?????目錄???????????0??2019-09-17?22:29??smartcar_shield-master\examples\Car\PidControllerMonitor\
?????文件????????1352??2019-09-17?22:29??smartcar_shield-master\examples\Car\PidControllerMonitor\PidControllerMonitor.ino
?????目錄???????????0??2019-09-17?22:29??smartcar_shield-master\examples\Car\SerialControlServoESC\
............此處省略169個文件信息