public SimpleDistanceDrivingStrategy(IEngine engine, IDistanceSensor distanceSensor)
{
Engine = engine;
DistanceSensor = distanceSensor;
InitializePropertyDefaults();
RefreshTimer = new Timer(100);
RefreshTimer.Elapsed += TakeDrivingDecisions;
}
public RadialDistanceSensor(RadialDistanceMap targetMap, BrickServo servoBrick, byte servoId, IDistanceSensor distanceBricklet)
{
Measurements = targetMap;
ServoId = servoId;
ServoBrick = servoBrick;
DistanceSensor = distanceBricklet;
SetupMeasurement();
SetupServo();
}
private void InitializeDevices()
{
Connection = new IPConnection();
Connection.Connect("localhost", 4223);
ServoBrick = new BrickServo("ap6zRki6edN", Connection);
SetupServoBrick();
DistanceBricklet = new BrickletDistanceIR("8XU", Connection);
var distanceCollection = new ClosestDistanceSensorCollection();
distanceCollection.AddSensor(new ImmediateDistanceIRSensor(DistanceBricklet));
Distances = distanceCollection;
var drivingStrategy = new SimpleDistanceDrivingStrategy(Engine, Distances);
drivingStrategy.MinimumDrivingDistance = 30.Centimeters();
drivingStrategy.ReversalDistance = 11.Centimeters();
drivingStrategy.RefreshInterval = 10;
this.DrivingStrategy = drivingStrategy;
}
public void AddSensor(IDistanceSensor sensor)
{
Sensors.Add(sensor);
}
