public MainWindow(PIDController _followDirectionPidControllerAngularSpeed, PIDController _followDirectionPidControllerLinearSpeed, string soundsBasePath = null)
{
followDirectionPidControllerAngularSpeed = _followDirectionPidControllerAngularSpeed;
followDirectionPidControllerLinearSpeed = _followDirectionPidControllerLinearSpeed;
soundsBasePathDefault = soundsBasePath;
InitializeComponent();
CreateMapWindow();
soundsBasePathLabel.Content = "Sound files folder: " + soundsBasePathDefault;
PopulatePlaySoundCombo();
this.Closing += new System.ComponentModel.CancelEventHandler(MainWindow_Closing);
}
/// <summary>
/// copies all members to a target
/// </summary>
/// <param name="target"></param>
public virtual void CopyTo(IDssSerializable target)
{
// throw new NotImplementedException("class PIDController does not have to implement IDssSerializable - do not call CopyTo()");
PIDController typedTarget = target as PIDController;
if (typedTarget == null)
{
throw new ArgumentException("PIDController::CopyTo({0}) requires type {0}", this.GetType().FullName);
}
typedTarget.Kp = this.Kp;
typedTarget.Ki = this.Ki;
typedTarget.Kd = this.Kd;
typedTarget.MaxIntegralError = this.MaxIntegralError;
typedTarget.MaxUpdateIntervalSec = this.MaxUpdateIntervalSec;
typedTarget.MaxPidValue = this.MaxPidValue;
typedTarget.MinPidValue = this.MinPidValue;
typedTarget.Name = this.Name;
typedTarget.PreviousError = this.PreviousError;
typedTarget.CurrentError = this.CurrentError;
typedTarget.DerivativeErrorPerSecond = this.DerivativeErrorPerSecond;
typedTarget.IntegralError = this.IntegralError;
}
public void Init()
{
Dropping = false;
IsTurning = false;
LastTurnStarted = DateTime.MinValue;
LastTurnCompleted = DateTime.MinValue;
if (WheelsEncoderState == null)
{
WheelsEncoderState = new WheelsEncoderState();
}
if (collisionState == null)
{
collisionState = new CollisionState();
}
if (gpsState == null)
{
gpsState = new GpsState();
}
if (MostRecentAnalogValues == null)
{
MostRecentAnalogValues = new proxibrick.AnalogDataDssSerializable() { TimeStamp = DateTime.MinValue };
}
MostRecentLaserTimeStamp = DateTime.Now;
if (VoiceCommandState == null)
{
VoiceCommandState = new VoiceCommandState();
}
int MAX_HUMANS_TO_TRACK = 7; // FrameProcessor preallocates 7
HumanInteractionStates = new HumanInteractionState[MAX_HUMANS_TO_TRACK];
for (int i = 0; i < HumanInteractionStates.Length; i++)
{
HumanInteractionStates[i] = new HumanInteractionState();
}
if (followDirectionPidControllerAngularSpeed == null)
{
followDirectionPidControllerAngularSpeed = new PIDController()
{
Name = "AngularSpeed",
MaxIntegralError = 180.0d, // degrees; anything more causes controller reset (error too large)
MaxUpdateIntervalSec = 10.0d, // ms; anything more causes controller reset (interval too long)
MaxPidValue = 100.0d, // pid factor upper limit
MinPidValue = 0.0d, // pid factor lower limit
Kp = PIDController.ProportionalGainDefault, // Proportional constant, 3.0
Ki = PIDController.IntegralGainDefault, // Integral constant, 0.1
Kd = PIDController.DerivativeGainDefault // Derivative constant, 0.5
};
}
if (followDirectionPidControllerLinearSpeed == null)
{
followDirectionPidControllerLinearSpeed = new PIDController()
{
Name = "LinearSpeed",
MaxIntegralError = 2000.0d, // mm/sec; anything more causes controller reset (error too large)
MaxUpdateIntervalSec = 10.0d, // ms; anything more causes controller reset (interval too long)
MaxPidValue = 1000.0d, // pid factor upper limit
MinPidValue = 0.0d, // pid factor lower limit
Kp = PIDController.ProportionalGainDefault, // Proportional constant, 3.0
Ki = PIDController.IntegralGainDefault, // Integral constant, 0.1
Kd = PIDController.DerivativeGainDefault // Derivative constant, 0.5
};
}
if (PowerScale == 0.0d)
{
PowerScale = 0.5d;
}
}