/// <summary>
/// Initialisiert den Antrieb des Roboters
/// </summary>
public Drive()
{
_tracksToRun = new List<Track>();
// Antrieb initialisieren
if (Constants.IsWinCE)
{
DriveCtrl = new DriveCtrlHW(Constants.IODriveCtrl);
MotorCtrlLeft = new MotorCtrlHW(Constants.IOMotorCtrlLeft);
MotorCtrlRight = new MotorCtrlHW(Constants.IOMotorCtrlRight);
}
else
{
DriveCtrl = new DriveCtrlSim();
MotorCtrlLeft = new MotorCtrlSim();
MotorCtrlRight = new MotorCtrlSim();
}
// Beschleunigung festlegen
DriveCtrl.Power = true;
MotorCtrlLeft.Acceleration = 10f;
MotorCtrlRight.Acceleration = 10f;
Position = new PositionInfo(0f, 0f, 90);
// Prozess-Thread erzeugen und starten
_thread = new Thread(RunTracks) {IsBackground = true, Priority = ThreadPriority.Highest};
_thread.Start();
}
/// <summary>
/// Initialisiert den Antrieb des Roboters
/// </summary>
public Drive()
{
_tracksToRun = new List <Track>();
// Antrieb initialisieren
if (Constants.IsWinCE)
{
DriveCtrl = new DriveCtrlHW(Constants.IODriveCtrl);
MotorCtrlLeft = new MotorCtrlHW(Constants.IOMotorCtrlLeft);
MotorCtrlRight = new MotorCtrlHW(Constants.IOMotorCtrlRight);
}
else
{
DriveCtrl = new DriveCtrlSim();
MotorCtrlLeft = new MotorCtrlSim();
MotorCtrlRight = new MotorCtrlSim();
}
// Beschleunigung festlegen
DriveCtrl.Power = true;
MotorCtrlLeft.Acceleration = 10f;
MotorCtrlRight.Acceleration = 10f;
Position = new PositionInfo(0f, 0f, 90);
// Prozess-Thread erzeugen und starten
_thread = new Thread(RunTracks)
{
IsBackground = true, Priority = ThreadPriority.Highest
};
_thread.Start();
}
