Example #1
0
        public NewLocal(SerialComm comm)
            : base(comm)
        {
            A_SQUARED = Math.Pow(A, 2);
            D_SQUARED = A_SQUARED / 4.0 + Math.Pow(B, 2.0);
            D         = Math.Sqrt(D_SQUARED);
            ALPHA     = Math.Atan(2.0 * B / A);
            SIN_ALPHA = Math.Sin(ALPHA);
            COS_ALPHA = Math.Cos(ALPHA);
            MAX_R0    = Math.Sqrt(Math.Pow(A, 2.0) + Math.Pow(B, 2.0));
            MAX_R1    = Math.Sqrt(Math.Pow(A, 2.0) + Math.Pow(B, 2.0));
            MAX_R2    = Math.Sqrt(Math.Pow(A, 2.0) / 4.0 + Math.Pow(B, 2.0));

            kalmanX = new Kalman1D();
            kalmanX.Reset(0.1, 0.1, 0.1, 400, -500);
            kalmanY = new Kalman1D();
            kalmanY.Reset(0.1, 0.1, 0.1, 400, -500);

            /*for (int i = 0; i < 4; i++)
             * {
             *  kalmanX[i] = new Kalman1D();
             *  kalmanX[i].Reset(0.1, 0.1, 0.1, 400, -500);
             *  kalmanY[i] = new Kalman1D();
             *  kalmanY[i].Reset(0.1, 0.1, 0.1, 400, -500);
             * }*/

            this.comm = comm;

            sw = new StreamWriter("file.txt", false);
        }
Example #2
0
        public Robot(float x, float y, float r, string portName, bool setPosition = true, bool smallBot = false)
            : base(x, y)
        {
            this.rot           = 0;
            this.r             = r;
            this.rotationConst = (smallBot ? 16.03f : 15.0f);

            comm = new SerialComm(this, portName);
            if (setPosition)
            {
                comm.SetPosition(x, y);
            }
        }
Example #3
0
        public Localisation(SerialComm comm)
            : base(-500, -500)
        {
            A_SQUARED = Math.Pow(A, 2);
            D_SQUARED = A_SQUARED / 4.0 + Math.Pow(B, 2.0);
            D         = Math.Sqrt(D_SQUARED);
            ALPHA     = Math.Atan(2.0 * B / A);
            SIN_ALPHA = Math.Sin(ALPHA);
            COS_ALPHA = Math.Cos(ALPHA);
            MAX_R0    = Math.Sqrt(Math.Pow(A, 2.0) + Math.Pow(B, 2.0));
            MAX_R1    = Math.Sqrt(Math.Pow(A, 2.0) + Math.Pow(B, 2.0));
            MAX_R2    = Math.Sqrt(Math.Pow(A, 2.0) / 4.0 + Math.Pow(B, 2.0));
            kalmanX   = new Kalman1D();
            kalmanX.Reset(0.1, 0.1, 0.1, 400, -500);
            kalmanY = new Kalman1D();
            kalmanY.Reset(0.1, 0.1, 0.1, 400, -500);

            this.comm = comm;
        }