C# (CSharp) HERO_Code SerialCommsHandler.GetVisionLocation_HopperLineup Examples

Example #1

        public static float HorizontalDisplacementLoop(ref Controller logitechController, ref SerialCommsHandler NUC_SerialConnection)
        {
            float dist = NUC_SerialConnection.GetVisionLocation_HopperLineup().x;

            const float BEGIN_RAMP_DOWN_AT = 20;

            float driveSpeed = Controls.ControlAlgorithms.P_Loop(dist, BEGIN_RAMP_DOWN_AT);

            logitechController.AXES.LEFT_Y  = driveSpeed;
            logitechController.AXES.RIGHT_Y = driveSpeed;

            Debug.Print(driveSpeed.ToString());

            return(driveSpeed);
        }

Example #2

        public static float DistanceLoop(ref Controller logitechController, ref SerialCommsHandler NUC_SerialConnection)
        {
            const float BEGIN_RAMP_DOWN_AT = 26; //INCHES
            const float STOPPING_DISTANCE  = 20; //INCHES



            float dist = NUC_SerialConnection.GetVisionLocation_HopperLineup().z;


            float driveSpeed = Controls.ControlAlgorithms.P_Loop(dist, BEGIN_RAMP_DOWN_AT, STOPPING_DISTANCE);

            logitechController.AXES.LEFT_Y  = driveSpeed;
            logitechController.AXES.RIGHT_Y = driveSpeed;

            //Debug.Print(driveSpeed.ToString());

            return(driveSpeed);
        }