public void Actuate()
{
var leftWeight = (Math.Abs(currentVelocity.LeftVelocity) - Math.Abs(previousVelocity.LeftVelocity) > 0) ? accelerationWeight : breakingWeight;
if (Math.Sign(currentVelocity.LeftVelocity) != Math.Sign(previousVelocity.LeftVelocity))
{
leftWeight = breakingWeight;
}
if (previousVelocity.LeftVelocity == 0)
{
leftWeight = accelerationWeight;
}
var rightWeight = (Math.Abs(currentVelocity.RightVelocity) - Math.Abs(previousVelocity.RightVelocity) > 0) ? accelerationWeight : breakingWeight;
if (Math.Sign(currentVelocity.RightVelocity) != Math.Sign(previousVelocity.RightVelocity))
{
rightWeight = breakingWeight;
}
if (previousVelocity.RightVelocity == 0)
{
rightWeight = accelerationWeight;
}
var left = previousVelocity.LeftVelocity + (leftWeight * (currentVelocity.LeftVelocity - previousVelocity.LeftVelocity));
var right = previousVelocity.RightVelocity + (rightWeight * (currentVelocity.RightVelocity - previousVelocity.RightVelocity));
previousVelocity = new WheelVelocity(left, right);
var command = ParseUpdateWheelVelocity(previousVelocity, SetWheelVelocityCode, WheelClicks);
manager.CommandAsync(command, 0, this);
}
public void GetBumperState()
{
var command = new byte[1];
command[0] = GetBumperStateCode;
manager.CommandAsync(command, 2, this);
}
public void GetGroundSensorState()
{
var command = new byte[1];
command[0] = GetGroundSensorStateCode;
manager.CommandAsync(command, 6, this);
}
public void GetSonarsBoardState()
{
var command = new byte[1];
command[0] = GetSonarsStateCode;
manager.CommandAsync(command, 10, this);
}
public void UpdateOdometryCommand()
{
var command = new byte[1];
command[0] = GetOdometryCode;
manager.CommandAsync(command, 4, this);
}
public void Actuate()
{
var command = new byte[4];
command[0] = GetLedBoardStateCode;
command[1] = red;
command[2] = green;
command[3] = blue;
manager.CommandAsync(command, 0, this);
}