#pragma once

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

	// 機(jī)器人安全的左右輪速限制，若超出則截?cái)啵⒎祷丶伲魹槌鰟t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;
	}
};