private void InitDrive()
{
IDifferentialMotorController dmc = hardwareBrick.produceDifferentialMotorController();
driveController = new DifferentialDrive(hardwareBrick)
{
wheelRadiusMeters = WHEEL_RADIUS_METERS,
wheelBaseMeters = WHEEL_BASE_METERS,
encoderTicksPerRevolution = ENCODER_TICKS_PER_REVOLUTION,
speedToVelocityFactor = SPEED_TO_VELOCITY_FACTOR,
turnToOmegaFactor = TURN_TO_OMEGA_FACTOR,
differentialMotorController = dmc
};
driveGeometry = (IDifferentialDrive)driveController;
driveController.Init();
driveController.Enabled = true;
}
private void InitDrive()
{
IDifferentialMotorController dmc = hardwareBrick.produceDifferentialMotorController();
driveController = new DifferentialDrive(hardwareBrick)
{
wheelRadiusMeters = WHEEL_RADIUS_METERS,
wheelBaseMeters = WHEEL_BASE_METERS,
encoderTicksPerRevolution = ENCODER_TICKS_PER_REVOLUTION,
speedToVelocityFactor = SPEED_TO_VELOCITY_FACTOR,
turnToOmegaFactor = TURN_TO_OMEGA_FACTOR,
differentialMotorController = dmc
};
this.odometry = hardwareBrick.produceOdometry(ODOMETRY_SAMPLING_INTERVAL_MS);
this.odometry.OdometryChanged += ((SensorsControllerPlucky)sensorsController).ArduinoBrickOdometryChanged;
driveController.hardwareBrickOdometry = odometry;
driveGeometry = (IDifferentialDrive)driveController;
driveController.Init();
driveController.Enabled = true;
}
