public Robot(IDRobot id, string name)
{
IDRobot = id;
Name = name;
SpeedConfig = new SpeedConfig(500, 1000, 1000, 500, 1000, 1000);
AsserStats = new AsserStats();
IsSpeedAdvAdaptable = true;
foreach (MotorID moteur in Enum.GetValues(typeof(MotorID)))
{
MotorState.Add(moteur, false);
}
foreach (SensorOnOffID o in Enum.GetValues(typeof(SensorOnOffID)))
{
SensorsOnOffValue.Add(o, false);
}
foreach (ActuatorOnOffID o in Enum.GetValues(typeof(ActuatorOnOffID)))
{
ActuatorOnOffState.Add(o, false);
}
foreach (SensorColorID o in Enum.GetValues(typeof(SensorColorID)))
{
SensorsColorValue.Add(o, Color.Black);
}
AnalogicPinsValue = new Dictionary <Board, List <double> >();
AnalogicPinsValue.Add(Board.RecIO, new List <double>());
AnalogicPinsValue.Add(Board.RecMove, new List <double>());
for (int i = 0; i < 9; i++)
{
AnalogicPinsValue[Board.RecIO].Add(0);
AnalogicPinsValue[Board.RecMove].Add(0);
}
NumericPinsValue = new Dictionary <Board, List <Byte> >();
NumericPinsValue.Add(Board.RecIO, new List <byte>());
NumericPinsValue.Add(Board.RecMove, new List <byte>());
for (int i = 0; i < 3 * 2; i++)
{
NumericPinsValue[Board.RecIO].Add(0);
NumericPinsValue[Board.RecMove].Add(0);
}
BatterieVoltage = 0;
Graph = null;
TrajectoryFailed = false;
TrajectoryCutOff = false;
TrajectoryRunning = null;
}
public void SetParams(SpeedConfig config)
{
_lineSpeed = config.LineSpeed;
_lineAcceleration = config.LineAcceleration;
_lineDeceleration = config.LineDeceleration;
_pivotSpeed = config.PivotSpeed;
_pivotAcceleration = config.PivotAcceleration;
_pivotDeceleration = config.PivotDeceleration;
OnParamChange(true, true, true, true, true, true);
}
public TimeSpan CalculDuration(SpeedConfig config, Robot robot)
{
TimeSpan totalDuration = new TimeSpan();
foreach (int dist in ForwardMoves.Union(BackwardMoves))
{
totalDuration += config.LineDuration(dist);
}
foreach (AngleDelta ang in LeftRotations.Union(RightsRotations))
{
totalDuration += config.PivotDuration(ang, robot.WheelSpacing);
}
return(totalDuration);
}
public void SetSpeedFast()
{
SpeedConfig.SetParams(Config.CurrentConfig.ConfigRapide);
IsSpeedAdvAdaptable = true;
}
public void SetSpeedVeryFast()
{
SpeedConfig.SetParams(800, 2500, 2500, 800, 2500, 2500);
IsSpeedAdvAdaptable = false;
}
public void SetSpeedVerySlow()
{
SpeedConfig.SetParams(100, 500, 500, 100, 500, 500);
IsSpeedAdvAdaptable = false;
}
public void SetSpeedSlow()
{
SpeedConfig.SetParams(Config.CurrentConfig.ConfigLent);
IsSpeedAdvAdaptable = false;
}
public Config()
{
ConfigLent = new SpeedConfig();
ConfigRapide = new SpeedConfig();
}
public SpeedSampler(SpeedConfig config)
{
_config = config;
}
