public VFHPathFollower(double maxVelocity, double maxTurn)
{
INetworkAddressProvider na = new HardcodedAddressProvider();
sick = new SickLMS(na.GetAddressByName("Sick"), new SensorPose());
sick.ScanReceived += new EventHandler<ILidarScanEventArgs<ILidarScan<ILidar2DPoint>>>(sick_ScanReceived);
sick.Start();
histogram = new double[361];
this.maxVelocity = maxVelocity;
this.maxTurn = maxTurn;
}
public HokuyoURG(string port, int scannerId, SensorPose sensorPose, bool useHokuyoTimestamp)
{
this.port = port;
this.scannerId = scannerId;
this.sensorPose = sensorPose;
this.useHokuyoTimestamp = useHokuyoTimestamp;
if (!useHokuyoTimestamp)
{
INetworkAddressProvider addressProvider = new HardcodedAddressProvider();
//segway = new SegwayRMP50(addressProvider.GetAddressByName("SegwayFeedback"), addressProvider.GetAddressByName("SegwayControl"), false, 1);
//segway.Start();
//segway.WheelPositionUpdate += new EventHandler<TimestampedEventArgs<Magic.Common.Robots.IRobotTwoWheelStatus>>(segway_WheelPositionUpdate);
ILidar2D lidar = new SickLMS(addressProvider.GetAddressByName("Sick"), new SensorPose(), true);
lidar.ScanReceived += new EventHandler<ILidarScanEventArgs<ILidarScan<ILidar2DPoint>>>(lidar_ScanReceived);
lidar.Start();
}
}
