public PanTiltSetting Clone()
{
var clone = new PanTiltSetting();
clone.TiltPercent = TiltPercent;
clone.PanPercent = PanPercent;
return clone;
}
public PanTiltSetting Clone()
{
var clone = new PanTiltSetting();
clone.TiltPercent = TiltPercent;
clone.PanPercent = PanPercent;
return(clone);
}
public AutonomousTrackStateManager(
IPanTiltController panTiltController
, IScreen screen) : base(screen)
{
_screen = screen;
_panTiltController = panTiltController;
PursuitBoundaryLower = new PanTiltSetting(10, 40);
PursuitBoundaryUpper = new PanTiltSetting(80, 90);
Reset();
}
public PanTiltSetting CalculateNewSetting(PanTiltSetting currentSetting)
{
var newSetting = currentSetting.Clone();
var deviation = GetDeviationFromTarget();
var deflection = CalculatePercentDeflection(deviation);
var xDeflection = Math.Abs(deviation.X) > DeadZone ? deflection.X : 0;
var yDeflection = Math.Abs(deviation.Y) > DeadZone ? deflection.Y : 0;
newSetting.PanPercent += xDeflection;
newSetting.TiltPercent += yDeflection;
return newSetting;
}
public PanTiltSetting CalculateNewSetting(PanTiltSetting currentSetting)
{
var newSetting = currentSetting.Clone();
var deviation = GetDeviationFromTarget();
var deflection = CalculatePercentDeflection(deviation);
var xDeflection = Math.Abs(deviation.X) > DeadZone ? deflection.X : 0;
var yDeflection = Math.Abs(deviation.Y) > DeadZone ? deflection.Y : 0;
newSetting.PanPercent += xDeflection;
newSetting.TiltPercent += yDeflection;
return(newSetting);
}
public PanTiltSetting CalculateNewSetting(PanTiltSetting currentSetting)
{
var newSetting = new PanTiltSetting();
ThrottleMultipler = (4 * (-_throttleAxis + 1.1m)); // 1 to bias to +ve, .1 to ensure always non zero
const decimal deadZone = 0.6m;
if (Math.Abs(_panAxis) > deadZone)
{
newSetting.PanPercent = (currentSetting.PanPercent + (_panAxis * ThrottleMultipler));
}
if (Math.Abs(_tiltAxis) > deadZone)
{
newSetting.TiltPercent = (currentSetting.TiltPercent + (_tiltAxis * ThrottleMultipler));
}
return newSetting;
}
public PanTiltSetting CalculateNewSetting(PanTiltSetting currentSetting)
{
var newSetting = new PanTiltSetting();
ThrottleMultipler = (4 * (-_throttleAxis + 1.1m)); // 1 to bias to +ve, .1 to ensure always non zero
const decimal deadZone = 0.6m;
if (Math.Abs(_panAxis) > deadZone)
{
newSetting.PanPercent = (currentSetting.PanPercent + (_panAxis * ThrottleMultipler));
}
if (Math.Abs(_tiltAxis) > deadZone)
{
newSetting.TiltPercent = (currentSetting.TiltPercent + (_tiltAxis * ThrottleMultipler));
}
return(newSetting);
}
public void CalculateNewSettingCalibratedResolution()
{
var target = new Point(160, 120);
var objective = new Point(128, 120);
var config = new CaptureConfig {
Resolution = new Resolution(320, 240)
};
var strategy = new HandCalibratedModifierStrategy(config, target);
strategy.Objective = objective;
var setting = new PanTiltSetting(50, 50);
var newSetting = strategy.CalculateNewSetting(setting);
// AssertBuilder.Generate(newSetting, "newSetting"); // The following assertions were generated on 07-Mar-2015
#region CodeGen Assertions
Assert.AreEqual(53.0720m, newSetting.PanPercent);
Assert.AreEqual(50m, newSetting.TiltPercent);
#endregion
}
public void Start(PanTiltSetting setting)
{
Original = setting;
_stopWatch.Restart();
Ticks = 0;
}
private void CalibrateHalfAxis(int signMovement, PanTiltAxis axis)
{
decimal accumulatedDeviation = 0;
bool foundColour;
do
{
_screen.BeginRepaint();
ResetToCenter();
WaitServo("Relocated to center position. About to capture first detection");
var firstDetection = LocateColour();
DoStep("Center detection @ {0} is {1}", CurrentSetting, firstDetection.CentralPoint);
accumulatedDeviation += signMovement * saccadePercentIncrement;
var movementRequired = new PanTiltSetting();
if (axis == PanTiltAxis.Horizontal)
{
movementRequired.PanPercent = accumulatedDeviation;
}
else
{
movementRequired.TiltPercent = accumulatedDeviation;
}
_screen.WriteLine("Sign={0}", signMovement);
_screen.WriteLine("Axis={0}", axis);
_screen.WriteLine("Saccade={0}", accumulatedDeviation);
MoveRelative(movementRequired);
WaitServo("Settle time after moving to new detection location {0}. About to capture new detection.", movementRequired);
var newDetection = LocateColour();
DoStep("New detection @ {0} is {1}", CurrentSetting, newDetection.CentralPoint);
foundColour = newDetection.IsDetected;
if (foundColour)
{
Func <PointF, float> getAxisValue;
if (axis == PanTiltAxis.Horizontal)
{
getAxisValue = p => p.X;
}
else
{
getAxisValue = p => p.Y;
}
var pixelDeviation = Convert.ToInt32(getAxisValue(newDetection.CentralPoint) - getAxisValue(firstDetection.CentralPoint));
var axisReadings = _currentResolutionReadings[axis];
if (axisReadings.ContainsKey(pixelDeviation))
{
axisReadings[pixelDeviation].AllReadings.Add(accumulatedDeviation);
}
else
{
axisReadings.Add(pixelDeviation, new ReadingSet(accumulatedDeviation));
}
_screen.WriteLine("Deviation={0}", pixelDeviation);
}
_screen.WriteLine("First={0}", firstDetection.CentralPoint);
_screen.WriteLine("New={0}", newDetection.CentralPoint);
}while (foundColour && Math.Abs(accumulatedDeviation) < 60);
}
public void InvokeMoveAbsolute(PanTiltSetting setting)
{
}
public PanTiltSetting CalculateNewSetting(PanTiltSetting currentSetting)
{
throw new NotImplementedException();
}
