fix: 実機でクラス名が引っ掛かったので修正

KatLab-MiyazakiUniv · Jun 8, 2024 · 5cd69ba · 5cd69ba
1 parent 601677c
commit 5cd69ba
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Showing 3 changed files with 26 additions and 26 deletions.
diff --git a/module/Calculator/Speed.cpp → module/Calculator/SpeedCalculator.cpp b/module/Calculator/Speed.cpp → module/Calculator/SpeedCalculator.cpp
@@ -1,11 +1,11 @@
 /**
- *  @file Speed.cpp
+ *  @file SpeedCalculator.cpp
  *  @brief 目標速度に対応するPWM値を算出するクラス
  *  @author CHIHAYATAKU
  */
-#include "Speed.h"
+#include "SpeedCalculator.h"
 
-Speed::Speed(double _targetSpeed)
+SpeedCalculator::SpeedCalculator(double _targetSpeed)
   : rightTargetSpeed(_targetSpeed),
     leftTargetSpeed(_targetSpeed),
     rightPid(K_P, K_I, K_D, _targetSpeed),
@@ -22,7 +22,7 @@ Speed::Speed(double _targetSpeed)
   prevLeftTime = currentTime;
 }
 
-Speed::Speed(double _rightTargetSpeed, double _leftTargetSpeed)
+SpeedCalculator::SpeedCalculator(double _rightTargetSpeed, double _leftTargetSpeed)
   : rightTargetSpeed(_rightTargetSpeed),
     leftTargetSpeed(_leftTargetSpeed),
     rightPid(R_K_P, R_K_I, R_K_D, _rightTargetSpeed),
@@ -39,7 +39,7 @@ Speed::Speed(double _rightTargetSpeed, double _leftTargetSpeed)
   prevLeftTime = currentTime;
 }
 
-double Speed::calculateRightPwmFromTargetSpeed()
+double SpeedCalculator::calculateRightPwmFromTargetSpeed()
 {
   // 右タイヤの回転角度を取得
   int rightAngle = measurer.getRightCount();
@@ -60,7 +60,7 @@ double Speed::calculateRightPwmFromTargetSpeed()
   return rightPwm;
 }
 
-double Speed::calculateLeftPwmFromTargetSpeed()
+double SpeedCalculator::calculateLeftPwmFromTargetSpeed()
 {
   // 左タイヤの回転角度を取得
   int leftAngle = measurer.getLeftCount();
@@ -81,7 +81,7 @@ double Speed::calculateLeftPwmFromTargetSpeed()
   return leftPwm;
 }
 
-double Speed::calculateSpeed(double diffMileage, double diffTime)
+double SpeedCalculator::calculateSpeed(double diffMileage, double diffTime)
 {
   // 走行時間が0のとき、0を返す
   if(diffTime == 0.0) return 0.0;

diff --git a/module/Calculator/Speed.h → module/Calculator/SpeedCalculator.h b/module/Calculator/Speed.h → module/Calculator/SpeedCalculator.h
@@ -1,32 +1,32 @@
 /**
- * @file Speed.h
+ * @file SpeedCalculator.h
  *  @brief 目標速度に対応するPWM値を算出するクラス
  *  @author CHIHAYATAKU
  */
 
-#ifndef Speed_H
-#define Speed_H
+#ifndef SPEEDCALCULATOR_H
+#define SPEEDCALCULATOR_H
 
 #include "Mileage.h"
 #include "Pid.h"
 #include "Timer.h"
 #include "Controller.h"
 #include "Measurer.h"
 
-class Speed {
+class SpeedCalculator {
  public:
   /**
    * @brief 引数１つの場合のコンストラクタ
    * @param _targetSpeed 目標とする走行速度[mm/s]
    */
-  Speed(double _targetSpeed);
+  SpeedCalculator(double _targetSpeed);
 
   /**
    * @brief 引数２つの場合のコンストラクタ
    * @param _rightTargetSpeed 目標とする右タイヤ走行速度[mm/s]
    * @param _leftTargetSpeed 目標とする左タイヤ走行速度[mm/s]
    */
-  Speed(double _rightTargetSpeed, double _leftTargetSpeed);
+  SpeedCalculator(double _rightTargetSpeed, double _leftTargetSpeed);
 
   /**
    * @brief 目標とする走行速度に相当する右車輪のPWM値を算出する

diff --git a/test/SpeedTest.cpp → test/SpeedCalculatorTest.cpp b/test/SpeedTest.cpp → test/SpeedCalculatorTest.cpp
@@ -1,10 +1,10 @@
 /**
- * @file SpeedTest.cpp
- * @brief Speedクラスをテストする
+ * @file SpeedCalculatorTest.cpp
+ * @brief SpeedCalculatorクラスをテストする
  * @author CHIHAYATAKU
  */
 
-#include "Speed.h"
+#include "SpeedCalculator.h"
 #include <gtest/gtest.h>
 
 namespace etrobocon2024_test {
@@ -15,7 +15,7 @@ namespace etrobocon2024_test {
     // PWMの初期化
     controller.setRightMotorPwm(0.0);
     controller.setLeftMotorPwm(0.0);
-    Speed speedCalc(300.0);
+    SpeedCalculator speedCalc(300.0);
     double actualPwm = speedCalc.calculateLeftPwmFromTargetSpeed();
     EXPECT_LT(0, actualPwm);
   }
@@ -26,7 +26,7 @@ namespace etrobocon2024_test {
     // PWMの初期化
     controller.setRightMotorPwm(0.0);
     controller.setLeftMotorPwm(0.0);
-    Speed speedCalc(-250.7);
+    SpeedCalculator speedCalc(-250.7);
     double actualPwm = speedCalc.calculateRightPwmFromTargetSpeed();
     EXPECT_GT(0, actualPwm);
   }
@@ -37,7 +37,7 @@ namespace etrobocon2024_test {
     // PWMの初期化
     controller.setRightMotorPwm(0.0);
     controller.setLeftMotorPwm(0.0);
-    Speed speedCalc(0.0);
+    SpeedCalculator speedCalc(0.0);
     double actualPwm = speedCalc.calculateRightPwmFromTargetSpeed();
     EXPECT_EQ(0, actualPwm);
   }
@@ -48,7 +48,7 @@ namespace etrobocon2024_test {
     // PWMの初期化
     controller.setRightMotorPwm(0.0);
     controller.setLeftMotorPwm(0.0);
-    Speed speedCalc(300.0);
+    SpeedCalculator speedCalc(300.0);
     double actualPwm = speedCalc.calculateRightPwmFromTargetSpeed();
     EXPECT_LT(0, actualPwm);
   }
@@ -59,7 +59,7 @@ namespace etrobocon2024_test {
     // PWMの初期化
     controller.setRightMotorPwm(0.0);
     controller.setLeftMotorPwm(0.0);
-    Speed speedCalc(-250.7);
+    SpeedCalculator speedCalc(-250.7);
     double actualPwm = speedCalc.calculateLeftPwmFromTargetSpeed();
     EXPECT_GT(0, actualPwm);
   }
@@ -70,7 +70,7 @@ namespace etrobocon2024_test {
     // PWMの初期化
     controller.setRightMotorPwm(0.0);
     controller.setLeftMotorPwm(0.0);
-    Speed speedCalc(0.0);
+    SpeedCalculator speedCalc(0.0);
     double actualPwm = speedCalc.calculateLeftPwmFromTargetSpeed();
     EXPECT_EQ(0, actualPwm);
   }
@@ -81,7 +81,7 @@ namespace etrobocon2024_test {
     // PWMの初期化
     controller.setRightMotorPwm(0.0);
     controller.setLeftMotorPwm(0.0);
-    Speed speedCalc(300.0, -300.0);
+    SpeedCalculator speedCalc(300.0, -300.0);
     double actualRightPwm = speedCalc.calculateRightPwmFromTargetSpeed();
     double actualLeftPwm = speedCalc.calculateLeftPwmFromTargetSpeed();
     EXPECT_LT(0, actualRightPwm);
@@ -94,7 +94,7 @@ namespace etrobocon2024_test {
     // PWMの初期化
     controller.setRightMotorPwm(0.0);
     controller.setLeftMotorPwm(0.0);
-    Speed speedCalc(-250.7, 250.7);
+    SpeedCalculator speedCalc(-250.7, 250.7);
     double actualRightPwm = speedCalc.calculateRightPwmFromTargetSpeed();
     double actualLeftPwm = speedCalc.calculateLeftPwmFromTargetSpeed();
     EXPECT_GT(0, actualRightPwm);
@@ -107,7 +107,7 @@ namespace etrobocon2024_test {
     // PWMの初期化
     controller.setRightMotorPwm(0.0);
     controller.setLeftMotorPwm(0.0);
-    Speed speedCalc(0.0, 250.7);
+    SpeedCalculator speedCalc(0.0, 250.7);
     double actualRightPwm = speedCalc.calculateRightPwmFromTargetSpeed();
     double actualLeftPwm = speedCalc.calculateLeftPwmFromTargetSpeed();
     EXPECT_EQ(0, actualRightPwm);
@@ -120,7 +120,7 @@ namespace etrobocon2024_test {
     // PWMの初期化
     controller.setRightMotorPwm(0.0);
     controller.setLeftMotorPwm(0.0);
-    Speed speedCalc(-300.0, 0.0);
+    SpeedCalculator speedCalc(-300.0, 0.0);
     double actualRightPwm = speedCalc.calculateRightPwmFromTargetSpeed();
     double actualLeftPwm = speedCalc.calculateLeftPwmFromTargetSpeed();
     EXPECT_GT(0, actualRightPwm);