//public int WallSensorMaxDistance { get; }
public LineAndWallDetectorRobot(IEnvironment env, int wallSensorMaxDistance = 100,
int minMapValueForObstacle = 10) : base(env)
{
//this.WallSensorMaxDistance = wallSensorMaxDistance;
this.minMapValueForObstacle = minMapValueForObstacle;
LineSensor = new LineSensor(this);
}
public LineAndWallDetectorRobot(IEnvironment env, int wallSensorMaxDistance = 20,
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);
}
private void PollLineSensor()
{
UpdateSensorStatus(LineSensor.Scan().Max() > 0,
ref lastLineStatus, OnLineAppears, OnLineDisappears);
}