public LineAndWallDetectorRobot(IEnvironment env, int wallSensorMaxDistance = 100,
int minMapValueForObstacle = 10) : base(env)
{
this.WallSensorMaxDistance = wallSensorMaxDistance;
this.minMapValueForObstacle = minMapValueForObstacle;
LineSensor = new LineSensor(this);
LeftWallSensor = new FixedDistanceSensor(this, -90.0, this.minMapValueForObstacle,
this.WallSensorMaxDistance);
RightWallSensor = new FixedDistanceSensor(this, 90.0, this.minMapValueForObstacle,
this.WallSensorMaxDistance);
BeaconProximitySensor = new BeaconProximitySensor(this, 50.0);
}
private void PollBeaconProximitySensor()
{
var ids = BeaconProximitySensor.GetCloseBeaconIds();
foreach (var id in ids)
{
if (!lastCloseBeaconIds.Contains(id))
{
OnBeaconClose?.Invoke(id);
}
}
lastCloseBeaconIds.Clear();
lastCloseBeaconIds.AddRange(ids);
}