/// <summary>
/// Samples 100 values while the robot is vertical
/// </summary>
public void Calibrate()
{
// Setup averaging filter for 100 samples
var averagingFilter = new MovingAverageFilter(100);
// Read in tilt 100 times to get offset from 0 when the
// robot is being held at 0 degrees.
for (int i = 0; i < 100; i++)
{
// Update state/sensors
this.Robot.UpdateSensors();
// Add to filter
averagingFilter.AddValue(this.Robot.Angle);
}
// Set point for the PID is the tilt angle when the robot
// is vertical.
this.AnglePID.SetPoint = averagingFilter.Value;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="pin"></param>
public InfraredDistanceSensor(Cpu.Pin pin, int averagingWindow = 10)
{
this.sensorInput = new AnalogInput(pin);
this.averagingFilter = new MovingAverageFilter(averagingWindow);
}
/// <summary>
/// Samples 100 values while the robot is vertical
/// </summary>
public void Calibrate()
{
// Setup averaging filter for 100 samples
var averagingFilter = new MovingAverageFilter(100);
// Read in tilt 100 times to get offset from 0 when the
// robot is being held at 0 degrees.
for (int i = 0; i < 100; i++)
{
// Update state/sensors
this.Robot.UpdateSensors();
// Add to filter
averagingFilter.AddValue(this.Robot.Angle);
}
// Set point for the PID is the tilt angle when the robot
// is vertical.
this.AnglePID.SetPoint = averagingFilter.Value;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="pin"></param>
public InfraredDistanceSensor(Cpu.Pin pin, int averagingWindow = 10)
{
this.sensorInput = new AnalogInput(pin);
this.averagingFilter = new MovingAverageFilter(averagingWindow);
}