robotsafelimit.h

来自「InnovLabSimu在vc++下实现」· C头文件 代码 · 共 34 行

#pragma once

class CRobotSafeLimit
{
public:
	CRobotSafeLimit(void);
public:
	virtual~CRobotSafeLimit(void);
	
public:

	// 机器人安全的左右轮速限制，若超出则截断，并返回假，若为超出则返回真
	bool SafeLRSpeedLimit(double& LeftWheelSpeed, double& RightWheelSpeed)
	{
		if (LeftWheelSpeed>2)
		{
			LeftWheelSpeed=2;
		}
		else if(LeftWheelSpeed<-2)
		{
			LeftWheelSpeed=-2;
		}
		if(RightWheelSpeed>2)
		{
			RightWheelSpeed=2;
		}
		else if(RightWheelSpeed<-2)
		{
			RightWheelSpeed=-2;
		}	
		return false;
	}
};