protected override bool StopLoop()
{
float average;
if (setAverage)
{
movingAverage.FillWindow(currentError);
setAverage = false;
}
else
{
movingAverage.Update(currentError);
}
average = movingAverage.GetAverage();
if (average <= 1.0f && average >= -1.0f)
{
if (brake)
{
motor.Brake();
}
else
{
motor.SetPower(0);
}
setAverage = true;
return(true);
}
bool errorOk = currentError == 0;
bool outputOk = currentOutput == 0;
return(errorOk && outputOk);
}
protected override bool StopLoop()
{
//Console.WriteLine("CurrentError: " + currentError);
//Console.WriteLine("CurrentOutput: " + currentOutput);
float average;
if (setAverage)
{
movingAverage.FillWindow(currentError);
setAverage = false;
LcdConsole.WriteLine("Current error:" + currentError.ToString());
LcdConsole.WriteLine("Set average:" + setAverage);
//Console.WriteLine("Set average");
}
else
{
movingAverage.Update(currentError);
}
average = movingAverage.GetAverage();
//Console.WriteLine("Average: " + average);
if (average <= 5.0f && average >= -5.0f)
{
//Console.WriteLine("Within limits");
//Console.WriteLine("Average " + average);
if (brake)
{
motor.Brake();
}
else
{
motor.SetPower(0);
}
setAverage = true;
return(true);
}
return(false);
/*bool errorOk = currentError == 0;
* //Console.WriteLine("Error ok:" + errorOk);
* bool outputOk = currentOutput == 0;
* //Console.WriteLine("output ok:" + outputOk);
* return errorOk && outputOk;*/
}
