public MainPage()
{
accelerometer = Accelerometer.GetDefault();
pid = new PidController.PidController(PROPORTIONAL_GAIN, INTEGRAL_GAIN, DERIVATIVE_GAIN, 100f, 0f);
pid.SetPoint = 0;
motor = new Motor(0, 36, 250);
this.InitializeComponent();
}
public MainPage()
{
accelerometer = Accelerometer.GetDefault();
pid = new PidController.PidController(PROPORTIONAL_GAIN, INTEGRAL_GAIN, DERIVATIVE_GAIN, 100f, 0f);
pid.SetPoint = 0;
motor = new Motor(0, 36, 250);
this.InitializeComponent();
}
public Drivetrain()
{
try
{
leftMotor = new Motor(Configuration.LEFT_MOTOR_PWM_CHANNEL, Configuration.LEFT_MOTOR_ENCODER_INPUT_PIN, Configuration.PULSES_PER_REVOLUTION);
rightMotor = new Motor(Configuration.RIGHT_MOTOR_PWM_CHANNEL, Configuration.RIGHT_MOTOR_ENCODER_INPUT_PIN, Configuration.PULSES_PER_REVOLUTION);
leftMotorPid = new PidController.PidController(Configuration.PROPORTIONAL_GAIN, Configuration.INTEGRAL_GAIN, Configuration.DERIVATIVE_GAIN, Configuration.MAX_FORWARD_THROTTLE, Configuration.MAX_REVERSE_THROTTLE);
rightMotorPid = new PidController.PidController(Configuration.PROPORTIONAL_GAIN, Configuration.INTEGRAL_GAIN, Configuration.DERIVATIVE_GAIN, Configuration.MAX_FORWARD_THROTTLE, Configuration.MAX_REVERSE_THROTTLE);
leftMotorPid.SetPoint = 0f;
rightMotorPid.SetPoint = 0f;
}
catch (Exception ex)
{
Logger.GetInstance().LogLine(ex.Message);
throw ex;
}
}
