public SimulatedEncoderSensor(VehicleSprite vehicle, bool leftWeelNotRight) { _vehicle = vehicle; _leftWheel = leftWeelNotRight; _timeAtLastRequestLeftWheel = DateTime.Now; _timeAtLastRequestRightWheel = DateTime.Now; }
public void InstantiateSimulatedEquipment(VehicleSprite vehicle, Lidar distances) { _wheel = new SimulatedWheel(vehicle); _encoderLeft = new SimulatedEncoderSensor(vehicle, leftWeelNotRight: true); _encoderRight = new SimulatedEncoderSensor(vehicle, leftWeelNotRight: false); float ultrasoundOffsetFwd = vehicle.Texture.Width * vehicle.TextureScale / 2 / 100; float ultrasoundOffsetSide = vehicle.Texture.Height * vehicle.TextureScale / 2 / 100; _ultrasound = new SimulatedUltrasoundSensor(distances, ultrasoundOffsetFwd, ultrasoundOffsetSide); _lidar = new SimulatedLidarPacketTransmitter(distances); }
public SimulatedWheel(VehicleSprite vehicle) { _vehicle = vehicle; }