private void tester(object state) { Debug.Print((_loopSettings.LoopUnit / (DateTime.Now.Ticks - _lastSensorTime)).ToString()); _lastSensorTime = DateTime.Now.Ticks; Sensors sensors = (Sensors)state; sensors.ReadGyro(); //Debug.Print(DateTime.Now.Ticks.ToString()); }
public ThreadingProgram() { Gyro gyro = new TestGyro(); Sensors sensors = new Sensors(gyro); Motor testMotor = new TestMotor(); MotorMixer mixer = new QuadMixer(testMotor, testMotor, testMotor, testMotor); ILogger logger = new PersistenceWriter(new MemoryStream(), new TelemetryFormatter()); Radio radio = new TestRadio(); PIDSettings[] pidSettings = GetPIDSettings(); AxesController axesController = new AxesController(pidSettings[0], pidSettings[1], pidSettings[2], true); _loopSettings = GetLoopSettings(); Timer sensorTimer = new Timer(tester, sensors,new TimeSpan(0),new TimeSpan((long)_loopSettings.SensorLoopFrequency) ); }
public ThreadingProgram() { Gyro gyro = new TestGyro(); Sensors sensors = new Sensors(gyro); Motor testMotor = new TestMotor(); MotorMixer mixer = new QuadMixer(testMotor, testMotor, testMotor, testMotor); ILogger logger = new PersistenceWriter(new MemoryStream(), new TelemetryFormatter()); Radio radio = new TestRadio(); PIDSettings[] pidSettings = GetPIDSettings(); AxesController axesController = new AxesController(pidSettings[0], pidSettings[1], pidSettings[2], true); _loopSettings = GetLoopSettings(); Timer sensorTimer = new Timer(tester, sensors, new TimeSpan(0), new TimeSpan((long)_loopSettings.SensorLoopFrequency)); }