public TurnToLargestDistance(IWheel wheel, ILidarDistance lidar) : base(wheel)
{
Details = new ExampleLogicDetails
{
Title = "Turn towards greatest distance",
Author = "BO19E-15",
DemoType = "Sensor update time demo",
Description = "Uses LIDAR to detect largest distance, and turns towards it.\n" +
"This code does NOT utilize any gyro.\n" +
"Demo suggestion:\n" +
"Try changing collection cycles on the LIDAR page while control logic is running, and observe how this affects the vehicles ability to point towards the correct heading."
};
_wheels = wheel;
_lidar = lidar;
}
public DriveToLargestDistance(IWheel wheel, ILidarDistance lidar, IUltrasonic ultrasonic) : base(wheel)
{
Details = new ExampleLogicDetails
{
Title = "Drive to largest distance",
Author = "BO19E-15",
DemoType = "AUTONOMY DEMO (simple)",
Description = "Uses LIDAR to detect largest distance, and drives towards it.\n" +
"It also uses Ultrasound to keep distance from wall.\n" +
"Will turn away from any obstructions in front.\n\n" +
"If lidar and collector is not running, it will be started automatically.\n" +
"Please note that this takes several seconds, and therefore it may take some time before the vehicle starts driving."
};
_wheels = wheel;
_lidar = lidar;
_ultrasonic = ultrasonic;
}
public CrossConnectedProportionalFeedback(IWheel wheel, IUltrasonic ultrasonic) : base(wheel)
{
Details = new ExampleLogicDetails()
{
Title = "Cross-connected P-feedback",
Author = "BO19E-15",
DemoType = "P-feedback (limitation) demo",
Description = "Simple cross-connected feedback loop between distance sensor and wheel causes the vehicle to steer away from the closest wall.\n" +
"The left wheel speed is controlled by the distance from the right ultrasound sensor, and vice versa for other side.\n" +
"When meeting obstruction in front, the car will turn (after a short pause) until no obstruction.\n" +
"Demo suggestion:\n" +
"Observe how just a simple proportional feedback kan give some limited control of the vehicle.\n" +
"Try sending the car at an steep angle towards the wall, and observe how it oscillates, and is unable to stay in the middle of the corridor."
};
_wheels = wheel;
_ultrasonic = ultrasonic;
}
