// METHOD: VelocityController
//--------------------------------------------------------------------------------------
/// <summary>
/// Determine and issue the next power command (control train speed)
/// </summary>
//--------------------------------------------------------------------------------------
private int VelocityController()
{
// If there has been a brake failure, set the emergency brake and do not issue a power command.
if (EmergencyBrake || m_brakeFailure)
{
m_myTrain.SetEmergencyBrake(true, m_samplePeriod);
return(1);
}
// Store values from the last iteration
m_lastIntegral = m_currentIntegral;
m_lastSample = m_currentSample;
// Calculate the error signal
m_currentSample = m_setPoint - m_currentState.Speed;
if (m_currentSample < 0)
{
m_myTrain.SetBrake(true, m_samplePeriod);
return(2);
}
// Invoke the control law to calculate the next power command
ControlLaw();
// Issue the power command to the train if it's not waiting at a station
if (!m_atStation && m_currentSample != 0)
{
m_myTrain.SetPower(m_powerCommand, m_samplePeriod);
return(3);
}
return(0);
}
private void brakeBox_CheckedChanged(object sender, EventArgs e)
{
train.SetBrake(brakeBox.Checked, 0.1);
powerTextBox.Text = train.GetPower().ToString();
}
