public static void Main(string[] args)
{
//Connect to LiDAR
lidarController = new LidarController("192.168.0.100", 2111); // Real Robot
//COnnect to Motor Controller
motorController = new MotorController(motorPort);
motorController.Connect();
//initialize obstacle detection tolerances
Obstacle.ObstacleInitialize(15, 150, 5, 200);//maxrarius of 15m,
//ImportLandmark Locations from Text file
knownLandmarks = Localization.KnownLandmarksInit(@"..\..\landmarksDay2.txt");
//Specify which XY Location the robot will start in the field at
//YetiLocation = new LocationPoint(0.5, -1, 0);
// YetiLocation = new LocationPoint(0.25, -1, 0);
//YetiLocation = new LocationPoint(0.0, -1, 0);
YetiLocation = new LocationPoint(0.0, 0, 0);
//IMPORT the locations of the Waypoint navigation targets
//TargetLocationList = Target.ReadLocationData(@"..\..\navigationQualification.txt");
//TargetLocationList = Target.ReadLocationData(@"..\..\navigationDay1.txt");
TargetLocationList = Target.ReadLocationData(@"..\..\navigationTripleIFinal.txt");
TargetLocation = TargetLocationList[0]; //set first target as first from txt file
PrevTargetLocation = new Target(); //initialize previous target to null
//Initialize the Yeti Location history for Stall detection
YetiHistory = new Queue <LocationPoint>(YetiHistorySize); //stall detection
//this is flag which specifies if this is the first lidar scan. This is set to false after the first LiDAR scan
keepCorrecting = true;//do once
//Main loop where all of the fun stuff happens
while (AutonomousEnabled)
{
ScanThread();
}
}//end main
