public OperationalSpeedCommand GetSpeedCommand()
{
OperationalVehicleState vs = Services.StateProvider.GetVehicleState();
OperationalSpeedCommand cmd = new OperationalSpeedCommand();
cmd.brakePressure = TahoeParams.brake_hold;
cmd.engineTorque = 0;
if (result != CompletionResult.Failed)
{
if (phase == Phase.Braking)
{
// chek if we can transition to shifting
if (Math.Abs(vs.speed) < 0.05 && vs.brakePressure >= TahoeParams.brake_hold - 1)
{
phase = Phase.Shifting;
}
}
if (phase == Phase.Shifting)
{
cmd.transGear = gear;
if (vs.transGear == gear)
{
result = CompletionResult.Completed;
}
}
}
return(cmd);
}
public OperationalSpeedCommand GetSpeedCommand()
{
OperationalVehicleState vs = Services.StateProvider.GetVehicleState();
OperationalSpeedCommand cmd = new OperationalSpeedCommand();
cmd.brakePressure = TahoeParams.brake_hold;
cmd.engineTorque = 0;
if (result != CompletionResult.Failed) {
if (phase == Phase.Braking) {
// chek if we can transition to shifting
if (Math.Abs(vs.speed) < 0.05 && vs.brakePressure >= TahoeParams.brake_hold-1) {
phase = Phase.Shifting;
}
}
if (phase == Phase.Shifting) {
cmd.transGear = gear;
if (vs.transGear == gear) {
result = CompletionResult.Completed;
}
}
}
return cmd;
}