/// <summary>
/// Constructor
/// </summary>
/// <param name="Driving">The driving command</param>
/// <param name="Steering">The steering command</param>
/// <param name="Multiplier">Multiplier on GetCurrentDriving and GetCurrentSteering values</param>
public InputSequence(Sequence Driving, Sequence Steering, double Multiplier=1)
{
if (Driving.Length != Steering.Length)
throw new ArgumentException("The length of the two sequences must be the same.");
driving = Driving;
steering = Steering;
//sync Sequences
driving.Rewind();
steering.Rewind();
multiplier = Multiplier;
}
private void sendWaveButton_Click(object sender, RoutedEventArgs e)
{
if (Data.ctr == null)
return;
Sequence s1 = Sequence.Pulse(40, 0, 15, 5, 0);
Sequence s2 = Sequence.Pulse(40, 0, 15, -9, 0);
Sequence s = new Sequence();
s.Append(s1);
s.Append(s2);
s.Append(s1);
s.Append(s2);
s.Append(s1);
s.Append(s2);
InputSequence fis = new InputSequence(s, new Sequence(s.Length));
Data.ctr.StartFixedInputSequence(ref fis);
}
public OutputSequence(long Size)
{
left = new Sequence(Size);
right = new Sequence(Size);
}
public void Append(Sequence a)
{
double[] c = new double[data.Length+a.data.Length];
Array.Copy(data, c, data.Length);
Array.Copy(a.Data, 0, c, data.Length, a.Length);
data = c;
length = data.Length;
}