public CarSteering CalculateCarSteering(Map currentMap)
{
CarSteering steering = new CarSteering();
currentPosition = GetNewCurrentPosition(currentMap, currentPosition);
currentMode = GetNewMode(currentPosition);
if (currentMode == Mode.ON_TRACK)
{
steering.speed = DEFAULT_SPEED_IN_MS;
steering.brake = 0.0d;
}
else if (currentMode == Mode.REACHED_DESTINATION)
{
steering.speed = 0.0d;
steering.brake = BREAKING_POWER_ON_DESTINATION;
}
else
{
throw new ApplicationException("unknown mode!");
}
double distanceAndSide = CalculateDistanceAndSideBetweenLineAndPoint(currentPosition.Value, currentMap.car);
double distanceRegulatorValue = distanceRegulator.ProvideObjectCurrentValueToRegulator(distanceAndSide);
double angleRegulatorValue = angleRegulator.ProvideObjectCurrentValueToRegulator(currentPosition.Value.angle);
steering.angle = distanceRegulatorValue + angleRegulatorValue;
return(steering);
}
public CarSteering CalculateCarSteering(Map currentMap)
{
CarSteering steering = new CarSteering();
currentPosition = GetNewCurrentPosition(currentMap, currentPosition);
currentMode = GetNewMode(currentPosition);
if (currentMode == Mode.ON_TRACK)
{
steering.speed = DEFAULT_SPEED_IN_MS;
steering.brake = 0.0d;
}
else if (currentMode == Mode.REACHED_DESTINATION)
{
steering.speed = 0.0d;
steering.brake = BREAKING_POWER_ON_DESTINATION;
}
else
{
throw new ApplicationException("unknown mode!");
}
double distanceAndSide = CalculateDistanceAndSideBetweenLineAndPoint(currentPosition.Value, currentMap.car);
double distanceRegulatorValue = distanceRegulator.ProvideObjectCurrentValueToRegulator(distanceAndSide);
double angleRegulatorValue = angleRegulator.ProvideObjectCurrentValueToRegulator(currentPosition.Value.angle);
steering.angle = distanceRegulatorValue + angleRegulatorValue;
return steering;
}
