/// <summary>
///
/// </summary>
///
public SimulationMCU(SimulationAbsoluteEncoder azEncoder, SimulationAbsoluteEncoder elEncoder)
{
AzEncoder = azEncoder;
ElEncoder = elEncoder;
ActiveObjectiveOrientationMoveStart = DateTime.MinValue;
ActiveObjectiveOrientation = null;
ActiveObjectiveAzimuthProfile = null;
ActiveObjectiveElevationProfile = null;
RequestedStopType = SimulationStopTypeEnum.NONE;
}
public void SetActiveObjectiveOrientationAndStartMove(Orientation orientationDegrees, bool forceLinear)
{
RequestedStopType = SimulationStopTypeEnum.NONE;
ActiveObjectiveOrientation = orientationDegrees;
if (forceLinear)
{
ActiveObjectiveAzimuthProfile = SimulationMCUTrajectoryProfile.ForceLinearInstance(
AzEncoder,
AzEncoder.CurrentPositionDegrees,
0.0,
MCUConstants.SIMULATION_MCU_PEAK_VELOCITY,
MCUConstants.SIMULATION_MCU_PEAK_ACCELERATION,
orientationDegrees.Azimuth
);
ActiveObjectiveElevationProfile = SimulationMCUTrajectoryProfile.ForceLinearInstance(
ElEncoder,
ElEncoder.CurrentPositionDegrees,
0.0,
MCUConstants.SIMULATION_MCU_PEAK_VELOCITY,
MCUConstants.SIMULATION_MCU_PEAK_ACCELERATION,
orientationDegrees.Elevation
);
}
else
{
ActiveObjectiveAzimuthProfile = SimulationMCUTrajectoryProfile.CalculateInstance(
AzEncoder,
AzEncoder.CurrentPositionDegrees,
0.0,
MCUConstants.SIMULATION_MCU_PEAK_VELOCITY,
MCUConstants.SIMULATION_MCU_PEAK_ACCELERATION,
orientationDegrees.Azimuth
);
ActiveObjectiveElevationProfile = SimulationMCUTrajectoryProfile.CalculateInstance(
ElEncoder,
ElEncoder.CurrentPositionDegrees,
0.0,
MCUConstants.SIMULATION_MCU_PEAK_VELOCITY,
MCUConstants.SIMULATION_MCU_PEAK_ACCELERATION,
orientationDegrees.Elevation
);
}
ActiveObjectiveOrientationMoveStart = DateTime.UtcNow;
}