Diff: Steering.h

Revision:

2:8be8699c5afd

Parent:

1:4b719f80e9c4

--- a/Steering.h	Fri Aug 21 04:52:10 2015 +0000
+++ b/Steering.h	Wed Oct 14 03:55:16 2015 +0000
@@ -1,46 +1,49 @@
 #ifndef INCLUDED_STEERING_H
 #define INCLUDED_STEERING_H
 
-#include "Command.h"
-
-class XBee;
+class Command;
 class I2CMotor;
 class I2CServo;
+class SteeringTire;
 
 class Steering{
 public:
-    Steering( I2CMotor** t, I2CServo** s, XBee* xbee );
+    enum ActionType{
+        STOP        = 0x00, // 0000 0000(2)
+        MOVE        = 0x08, // 0000 1000(2)
+        ROLL        = 0x10, // 0001 0000(2)
+        SHOOT       = 0x18, // 0001 1000(2)
+        WAIT_SERVO  = 0xFF  // 通信で送られて来ることはないデータ
+    };
+    
+    Steering( I2CMotor** t, I2CServo** s );
     ~Steering();
     
     void update( Command c );
     
+    static const int mNumOfTire;
+    
 private:
+    void updateActionType( Command command );
     void updateMove( Command command );
-    void updateAbsRoll( Command command );
     void updateRoll( Command command );
     void updateStop( Command command );
     void updateWaitServo( Command command );
     
-    void setServoPositionByActionType( Command::ActionType action, Command command );
+    void setServoPositionByActionType( ActionType action, Command command );
     void setServoPositionWhenMove( Command command );
     void setServoPositionWhenRoll();
     void setServoPositionWhenStop();
     
-    static const int mNumOfTire;
-    static const float mAllowableError;
     static const float mStoppingMoveAngle;
     static const float mRollTirePosition[];
     
-    float mOffsetHeadingAngle;
-    
-    float mMoveDirection_rad;
+    SteeringTire* mTire;
+    I2CServo** mServo;
     
-    I2CMotor** mTire;
-    I2CServo** mServo;
-    XBee* mXBee;
-    
-    Command::ActionType mActionType;
-    Command::ActionType mNextActionType;
+    ActionType mActionType;
+    ActionType mNextActionType;
+    float mMoveDirection_rad;
 };
 
 #endif