public PIDSteeringWheelAngleRegulator(ICar car)
{
Car = car;
regulator = new PIDRegulator(new Settings(), "steering wheel angle regulator");
car.evTargetSteeringWheelAngleChanged += new TargetSteeringWheelAngleChangedEventHandler(car_evTargetSteeringWheelAngleChanged);
car.CarComunicator.evSteeringWheelAngleInfoReceived += new SteeringWheelAngleInfoReceivedEventHandler(CarComunicator_evSteeringWheelAngleInfoReceived);
}
public PIDBrakeRegulator(ICar car)
{
ICar = car;
regulator = new PIDRegulator(new Settings(), "brake PID regulator");
ICar.evTargetSpeedChanged += ICar_evTargetSpeedChanged;
ICar.SpeedRegulator.evNewSpeedSettingCalculated += SpeedRegulator_evNewSpeedSettingCalculated;
ICar.CarComunicator.evBrakePositionReceived += CarComunicator_evBrakePositionReceived;
evNewBrakeSettingCalculated += PIDBrakeRegulator_evNewBrakeSettingCalculated;
ICar.evAlertBrake += ICar_evAlertBrake;
}
public PIDBrakeRegulator(ICar car)
{
ICar = car;
regulator = new PIDRegulator(new Settings(), "brake PID regulator");
ICar.evTargetSpeedChanged += new TargetSpeedChangedEventHandler(ICar_evTargetSpeedChanged);
ICar.SpeedRegulator.evNewSpeedSettingCalculated += new NewSpeedSettingCalculatedEventHandler(SpeedRegulator_evNewSpeedSettingCalculated);
ICar.CarComunicator.evBrakePositionReceived += new BrakePositionReceivedEventHandler(CarComunicator_evBrakePositionReceived);
evNewBrakeSettingCalculated += new NewBrakeSettingCalculatedEventHandler(PIDBrakeRegulator_evNewBrakeSettingCalculated);
ICar.evAlertBrake += new EventHandler(ICar_evAlertBrake);
}
public PIDSpeedRegulator(ICar parent)
{
Car = parent;
CarComunicator = parent.CarComunicator;
regulator = new PIDRegulator(new Settings(), "speed PID regulator");
Car.evAlertBrake += new EventHandler(Car_evAlertBrake);
Car.evTargetSpeedChanged += new TargetSpeedChangedEventHandler(Car_evTargetSpeedChanged);
evNewSpeedSettingCalculated += new NewSpeedSettingCalculatedEventHandler(PIDSpeedRegulator_evNewSpeedSettingCalculated);
CarComunicator.evSpeedInfoReceived += new SpeedInfoReceivedEventHander(CarComunicator_evSpeedInfoReceived);
}
public PIDSpeedRegulator(ICar parent)
{
Car = parent;
CarComunicator = parent.CarComunicator;
regulator = new PIDRegulator(new Settings(), "speed PID regulator");
Car.evAlertBrake += new EventHandler(Car_evAlertBrake);
Car.evTargetSpeedChanged += new TargetSpeedChangedEventHandler(Car_evTargetSpeedChanged);
evNewSpeedSettingCalculated += new NewSpeedSettingCalculatedEventHandler(PIDSpeedRegulator_evNewSpeedSettingCalculated);
CarComunicator.evSpeedInfoReceived += new SpeedInfoReceivedEventHander(CarComunicator_evSpeedInfoReceived);
}
/// <summary>
/// Initialize servo.
/// </summary>
private void Awake()
{
if (Application.isPlaying)
{
correctedAxis = GetCorrectedAxis();
rigidbody = GetComponent <Rigidbody>();
positionRegulator = new PIDRegulator(positionRegulatorProfile);
velocityRegulator = new PIDRegulator(velocityRegulatorProfile);
CreateJoint();
if (!profile || !positionRegulatorProfile)
{
Debug.Log("Servo " + name + " will not work properly, because it is not fully configured!");
}
}
}
public BarrelControlSystem(double dt) : base()
{
DT = dt;
InputStream = 0;
InputStreamBlock = new GainBlock(SystemSettings.Gain);
m_withoutHitBlock = new AperiodicBlock(dt, SystemSettings.TForValve);
var blocks = new Queue <IBlock>();
blocks.Enqueue(new DelayBlock(dt, SystemSettings.Delay));
blocks.Enqueue(new IntegralBlock(dt));
blocks.Enqueue(new InterferenceBlock(SystemSettings.Interference));
Object = new ComplexBlock(blocks);
Regulator = new PIDRegulator(dt);
}
public TankControlSystem(double dt) : base()
{
DT = dt;
Valve = 0;
InputStream = SystemSettings.MaxInputStream;
OutputStream = SystemSettings.MaxOutputStream;
OutputGain = 0.2;
m_withoutHitBlock = new AperiodicBlock(dt, SystemSettings.T);
var blocks = new Queue <IBlock>();
blocks.Enqueue(new DelayBlock(dt, SystemSettings.Delay));
blocks.Enqueue(new AperiodicBlock(DT, SystemSettings.T));
blocks.Enqueue(new GainBlock(SystemSettings.T));
blocks.Enqueue(new InterferenceBlock(SystemSettings.Interference));
Object = new ComplexBlock(blocks);
Regulator = new PIDRegulator(dt);
}
public CarDriver(Map _baseMap, List <PositionAndOrientation> _track)
{
if (_track.Count < 2)
{
throw new ArgumentException();
}
if (_baseMap.car == null)
{
throw new ArgumentException();
}
baseMap = _baseMap;
track = new LinkedList <PositionAndOrientation>(_track);
distanceRegulator = new PIDRegulator(distanceRegulatorSettings, "Car Driver distance regulator");
distanceRegulator.targetValue = 0.0d;
angleRegulator = new PIDRegulator(angleRegulatorSettings, "Car Driver ANGLE regulator");
angleRegulator.targetValue = 0.0d;
currentPosition = track.First;
}
