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);
}
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);
}
}
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;
}