public SerialCarHardwareInterface(String portPath)
{
// For now, we're hardcoding our sensors.
RearUltrasonicSensor = new UltrasonicSensor();
FrontUltrasonicSensors = new UltrasonicSensor[] {
new UltrasonicSensor(),
new UltrasonicSensor(),
new UltrasonicSensor()
};
Accelerometor = new AccelerometorSensor();
ThrottleServo = new Servo(this);
SteeringServo = new Servo(this);
StartSerialPortConnection();
}
public bool ApplyValueToServo(double value, Servo servo)
{
double throttleValue = ThrottleServo.Value;
double steeringValue = SteeringServo.Value;
if (servo == ThrottleServo) throttleValue = value;
if (servo == SteeringServo) steeringValue = value;
return WriteServoValuesToDevice(steeringValue, throttleValue);
}
public ServoInfoScreen(Servo servo, string name)
{
ScreenServo = servo;
Name = name;
}