/// <summary>
/// Computes drive speed based on requestedSpeed, current DrivingState, timing and sensors input
/// </summary>
/// <returns></returns>
public override IEnumerator<ISubsumptionTask> Execute()
{
DriveInputsBase correctedDriveSpeed = new DriveInputsBase(); // a stop command unless modified
//behaviorData.driveInputs = correctedDriveSpeed;
yield break;
}
/// <summary>
/// sets Velocity and Omega into behaviorData.driveInputs
/// </summary>
/// <param name="velocity">meters per second</param>
/// <param name="omega">radians per second, positive - left</param>
protected void setVelocityAndOmega(double velocity = 0.0d, double omega = 0.0d)
{
DriveInputsBase correctedDriveSpeed = new DriveInputsBase(); // a stop command unless modified
correctedDriveSpeed.velocity = velocity;
correctedDriveSpeed.omega = omega; // positive - left
behaviorData.driveInputs = correctedDriveSpeed;
}
/// <summary>
/// sets Velocity and Omega into behaviorData.driveInputs
/// </summary>
/// <param name="velocity">meters per second</param>
/// <param name="omega">radians per second, positive - left</param>
protected void setVelocityAndOmega(double velocity = 0.0d, double omega = 0.0d)
{
DriveInputsBase correctedDriveSpeed = new DriveInputsBase(); // a stop command unless modified
correctedDriveSpeed.velocity = velocity;
correctedDriveSpeed.omega = omega; // positive - left
behaviorData.driveInputs = correctedDriveSpeed;
}