public IWheelEncoder produceWheelEncoder(slg.RobotAbstraction.Ids.WheelEncoderId wheelEncoderId, int updateFrequency, int resolution, int countChangedThreshold)
{
WheelEncoder encoder = new WheelEncoder(this)
{
WheelEncoderId = wheelEncoderId,
UpdateFrequency = updateFrequency, // milliseconds
Resolution = resolution, // must be set to avoid divide by zero in WheelEncoder.cs
CountChangedThreshold = countChangedThreshold // ticks
};
return encoder;
}
public ISonarSRF04 produceSonarSRF04(slg.RobotAbstraction.Ids.GpioPinId triggerPin, slg.RobotAbstraction.Ids.GpioPinId outputPin, int updateFrequency, double distanceChangedThreshold)
{
return new SonarSRF04(this)
{
TriggerPin = (Ids.GpioPinId)triggerPin,
OutputPin = (Ids.GpioPinId)outputPin,
UpdateFrequency = updateFrequency, // milliseconds
DistanceChangedThreshold = distanceChangedThreshold
};
}
public IAnalogSensor produceAnalogSensor(slg.RobotAbstraction.Ids.AnalogPinId pin, int updateFrequency, double valueChangedThreshold)
{
return new AnalogSensor(this)
{
Pin = pin,
UpdateFrequency = updateFrequency, // milliseconds
ValueChangedThreshold = (int)valueChangedThreshold
};
}
public ISharpGP2D12 produceSharpGP2D12(slg.RobotAbstraction.Ids.AnalogPinId pin, int updateFrequency, double distanceChangedThreshold)
{
return new SharpGP2D12(this)
{
Pin = pin,
UpdateFrequency = updateFrequency, // milliseconds
DistanceChangedThreshold = distanceChangedThreshold
};
}
