static double Test2(Driver Driver, double ObstaclePosition)
{
CarPhisics Car1 = new CarPhisics();
double t = 0;
double dt = 0.01;
do
{
t += dt;
Driver.DistanceToObstacle = ObstaclePosition - Car1.PositionX;
Driver.Update();
Car1.AcceleratorCommand = Driver.AcceleratorCMD;
Car1.BrakeCommand = Driver.BrakeCMD;
Car1.UpdateStatus(dt);
} while (Car1.Speed > 0);
//Console.Write("Time: {0}\tPosition: {1}",t,Car1.PositionX);
return(Car1.PositionX);
}
static void Test1()
{
CarPhisics Car1 = new CarPhisics();
Driver Driver = new Driver();
StreamWriter sw = new StreamWriter("output.csv");
sw.WriteLine("Time" + '\t' + Car1.CSVHeader('\t'));
double t = 0;
double dt = 0.1;
double AccelCMD = 0;
double brakeCMD = 0;
double MaxSpeed = 0;
sw.WriteLine(t.ToString() + '\t' + Car1.toCSVString('\t'));
while (t < 10)
{
if (t < 7)
{
AccelCMD = 1;
brakeCMD = 0;
}
else
{
AccelCMD = 0;
brakeCMD = 1;
}
Car1.AcceleratorCommand = MathUtils.Bound(AccelCMD, 0, 1);
Car1.UpdateStatus(dt);
MaxSpeed = Car1.Speed > MaxSpeed ? Car1.Speed : MaxSpeed;
t += dt;
sw.WriteLine(t.ToString() + '\t' + Car1.toCSVString('\t'));
}
Console.WriteLine((MaxSpeed * 3.6).ToString() + "kmh");
//Console.ReadLine();
sw.Close();
}