public SimulatedEncoderSensor(VehicleSprite vehicle, bool leftWeelNotRight)
{
_vehicle = vehicle;
_leftWheel = leftWeelNotRight;
_timeAtLastRequestLeftWheel = DateTime.Now;
_timeAtLastRequestRightWheel = DateTime.Now;
}
public void InstantiateSimulatedEquipment(VehicleSprite vehicle, Lidar distances)
{
_wheel = new SimulatedWheel(vehicle);
_encoderLeft = new SimulatedEncoderSensor(vehicle, leftWeelNotRight: true);
_encoderRight = new SimulatedEncoderSensor(vehicle, leftWeelNotRight: false);
float ultrasoundOffsetFwd = vehicle.Texture.Width * vehicle.TextureScale / 2 / 100;
float ultrasoundOffsetSide = vehicle.Texture.Height * vehicle.TextureScale / 2 / 100;
_ultrasound = new SimulatedUltrasoundSensor(distances, ultrasoundOffsetFwd, ultrasoundOffsetSide);
_lidar = new SimulatedLidarPacketTransmitter(distances);
}
public SimulatedWheel(VehicleSprite vehicle)
{
_vehicle = vehicle;
}
