/// <summary>
/// copies all members to a target
/// </summary>
/// <param name="target"></param>
public virtual void CopyTo(IDssSerializable target)
{
// throw new NotImplementedException("class GpsState does not have to implement IDssSerializable - do not call CopyTo()");
GpsState typedTarget = target as GpsState;
if (typedTarget == null)
{
throw new ArgumentException("GpsState::CopyTo({0}) requires type {0}", this.GetType().FullName);
}
typedTarget.GPGGA_PositionFixIndicator = this.GPGGA_PositionFixIndicator;
typedTarget.GPGGA_AltitudeMeters = this.GPGGA_AltitudeMeters;
typedTarget.GPGGA_Latitude = this.GPGGA_Latitude;
typedTarget.GPGGA_Longitude = this.GPGGA_Longitude;
typedTarget.GPGGA_HorizontalDilutionOfPrecision = this.GPGGA_HorizontalDilutionOfPrecision;
typedTarget.GPGGA_SatellitesUsed = this.GPGGA_SatellitesUsed;
typedTarget.GPGGA_LastUpdate = this.GPGGA_LastUpdate;
typedTarget.GPGLL_MarginOfError = this.GPGLL_MarginOfError;
typedTarget.GPGLL_Status = this.GPGLL_Status;
typedTarget.GPGLL_Latitude = this.GPGLL_Latitude;
typedTarget.GPGLL_Longitude = this.GPGLL_Longitude;
typedTarget.GPGLL_LastUpdate = this.GPGLL_LastUpdate;
typedTarget.GPGSA_Status = this.GPGSA_Status;
typedTarget.GPGSA_Mode = this.GPGSA_Mode;
typedTarget.GPGSA_SphericalDilutionOfPrecision = this.GPGSA_SphericalDilutionOfPrecision;
typedTarget.GPGSA_HorizontalDilutionOfPrecision = this.GPGSA_HorizontalDilutionOfPrecision;
typedTarget.GPGSA_VerticalDilutionOfPrecision = this.GPGSA_VerticalDilutionOfPrecision;
typedTarget.GPGSA_LastUpdate = this.GPGSA_LastUpdate;
typedTarget.GPGSV_SatellitesInView = this.GPGSV_SatellitesInView;
typedTarget.GPGSV_LastUpdate = this.GPGSV_LastUpdate;
typedTarget.GPRMC_Status = this.GPRMC_Status;
typedTarget.GPRMC_Latitude = this.GPRMC_Latitude;
typedTarget.GPRMC_Longitude = this.GPRMC_Longitude;
typedTarget.GPRMC_LastUpdate = this.GPRMC_LastUpdate;
typedTarget.GPVTG_CourseDegrees = this.GPVTG_CourseDegrees;
typedTarget.GPVTG_SpeedMetersPerSecond = this.GPVTG_SpeedMetersPerSecond;
typedTarget.GPVTG_LastUpdate = this.GPVTG_LastUpdate;
}
public void Init()
{
Dropping = false;
IsTurning = false;
LastTurnStarted = DateTime.MinValue;
LastTurnCompleted = DateTime.MinValue;
if (WheelsEncoderState == null)
{
WheelsEncoderState = new WheelsEncoderState();
}
if (collisionState == null)
{
collisionState = new CollisionState();
}
if (gpsState == null)
{
gpsState = new GpsState();
}
if (MostRecentAnalogValues == null)
{
MostRecentAnalogValues = new proxibrick.AnalogDataDssSerializable() { TimeStamp = DateTime.MinValue };
}
MostRecentLaserTimeStamp = DateTime.Now;
if (VoiceCommandState == null)
{
VoiceCommandState = new VoiceCommandState();
}
int MAX_HUMANS_TO_TRACK = 7; // FrameProcessor preallocates 7
HumanInteractionStates = new HumanInteractionState[MAX_HUMANS_TO_TRACK];
for (int i = 0; i < HumanInteractionStates.Length; i++)
{
HumanInteractionStates[i] = new HumanInteractionState();
}
if (followDirectionPidControllerAngularSpeed == null)
{
followDirectionPidControllerAngularSpeed = new PIDController()
{
Name = "AngularSpeed",
MaxIntegralError = 180.0d, // degrees; anything more causes controller reset (error too large)
MaxUpdateIntervalSec = 10.0d, // ms; anything more causes controller reset (interval too long)
MaxPidValue = 100.0d, // pid factor upper limit
MinPidValue = 0.0d, // pid factor lower limit
Kp = PIDController.ProportionalGainDefault, // Proportional constant, 3.0
Ki = PIDController.IntegralGainDefault, // Integral constant, 0.1
Kd = PIDController.DerivativeGainDefault // Derivative constant, 0.5
};
}
if (followDirectionPidControllerLinearSpeed == null)
{
followDirectionPidControllerLinearSpeed = new PIDController()
{
Name = "LinearSpeed",
MaxIntegralError = 2000.0d, // mm/sec; anything more causes controller reset (error too large)
MaxUpdateIntervalSec = 10.0d, // ms; anything more causes controller reset (interval too long)
MaxPidValue = 1000.0d, // pid factor upper limit
MinPidValue = 0.0d, // pid factor lower limit
Kp = PIDController.ProportionalGainDefault, // Proportional constant, 3.0
Ki = PIDController.IntegralGainDefault, // Integral constant, 0.1
Kd = PIDController.DerivativeGainDefault // Derivative constant, 0.5
};
}
if (PowerScale == 0.0d)
{
PowerScale = 0.5d;
}
}
