Ejemplo n.º 1
0
        /// <summary>
        ///
        /// </summary>
        ///
        public SimulationMCU(SimulationAbsoluteEncoder azEncoder, SimulationAbsoluteEncoder elEncoder)
        {
            AzEncoder = azEncoder;
            ElEncoder = elEncoder;

            ActiveObjectiveOrientationMoveStart = DateTime.MinValue;
            ActiveObjectiveOrientation          = null;
            ActiveObjectiveAzimuthProfile       = null;
            ActiveObjectiveElevationProfile     = null;

            RequestedStopType = SimulationStopTypeEnum.NONE;
        }
Ejemplo n.º 2
0
        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;
        }