//------ Access motor controller ----------//
//------ Set output routines. ----------//
public void BalanceSet(Styles.AdvancedStyle driveStyle, float forward, float turn)
{
/* calc the left and right demand */
float l, r;
Util.Split_1(forward, turn, out l, out r);
if (l > 1)
{
//Left side is saturated +, beef up right side by remainder amount
r += (l - 1);
}
else if (r > 1)
{
//Right side is saturated +, beef up left side by remainder
l += (r - 1);
}
else if (l < -1)
{
//Left side is saturated -, beef up right side by remainder
r += (l + 1);
}
else if (r < -1)
{
//Right side is saturated -, beef up left side by remainder
l += (r + 1);
}
/* apply it */
_left.Set(ControlMode.PercentOutput, l);
_right.Set(ControlMode.PercentOutput, r);
}
//------ Access motor controller ----------//
//------ Set output routines. ----------//
public void Set(Styles.AdvancedStyle driveStyle, float forward, float turn)
{
/* calc the left and right demand */
float l, r;
Util.Split_1(forward, turn, out l, out r);
/* lookup control mode to match caller's selected style */
ControlMode cm = Styles.Routines.LookupCM(driveStyle);
/* apply it */
_left.Set(cm, l);
_right.Set(cm, r);
}
