C# (CSharp) HERO_Code SerialCommsHandler.GetVisionOrientation_HopperLineup Examples

Example #1

        public static float TurnLoop(ref Controller logitechController, ref SerialCommsHandler NUC_SerialConnection)
        {
            const float BEGIN_RAMP_DOWN_AT = 15; //DEGREES


            float yaw = NUC_SerialConnection.GetVisionOrientation_HopperLineup().yaw;

            float driveSpeed = Controls.ControlAlgorithms.P_Loop(yaw, BEGIN_RAMP_DOWN_AT, 0);

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

            return(driveSpeed);
        }