public override float GetSensorValue(Values.Sensor sensor)
{
switch (sensor)
{
case Values.Sensor.TripMeterL:
return(LeftEncoder.Steps);
case Values.Sensor.TripMeterR:
return(RightEncoder.Steps);
case Values.Sensor.Sensor1:
return(Plate1.Read <float>() ?? -1F);
case Values.Sensor.Sensor2:
return(Plate2.Read <float>() ?? -1F);
case Values.Sensor.Sensor3:
return(Plate3.Read <float>() ?? -1F);
case Values.Sensor.Sensor4:
return(Plate4.Read <float>() ?? -1F);
case Values.Sensor.Sensor5:
return(Plate5.Read <float>() ?? -1F);
default:
return(-1F);
}
}
public override bool ColorSensor(Values.Sensor sensor, Values.SensorColors color)
{
var sensor_color = GetRGBSensorValue(sensor) / 255F;
switch (color)
{
case Values.SensorColors.Unknown:
bool isUnknown = false;
foreach (var test_color in AllColors)
{
isUnknown |= (sensor_color - MapColor(test_color)).magnitude < 0.25F;
}
return(isUnknown);
default:
var distance = (sensor_color - MapColor(color)).magnitude;
return(distance < 0.25F);
}
}
public override Vector3 GetRGBSensorValue(Values.Sensor sensor)
{
switch (sensor)
{
case Values.Sensor.Sensor1:
return(Plate1.Read <Vector3>() ?? new Vector3(-1F, -1F, -1F));
case Values.Sensor.Sensor2:
return(Plate2.Read <Vector3>() ?? new Vector3(-1F, -1F, -1F));
case Values.Sensor.Sensor3:
return(Plate3.Read <Vector3>() ?? new Vector3(-1F, -1F, -1F));
case Values.Sensor.Sensor4:
return(Plate4.Read <Vector3>() ?? new Vector3(-1F, -1F, -1F));
case Values.Sensor.Sensor5:
return(Plate5.Read <Vector3>() ?? new Vector3(-1F, -1F, -1F));
default:
return(new Vector3(-1F, -1F, -1F));
}
}
public abstract bool ColorSensor(Values.Sensor sensor, Values.SensorColors color);
public abstract Vector3 GetRGBSensorValue(Values.Sensor sensor);
public abstract float GetSensorValue(Values.Sensor sensor);
