public HolonomicDriveTrain(IMotor frontLeft, IMotor frontRight, IMotor rearLeft, IMotor rearRight)
{
this.frontLeft = frontLeft;
this.frontRight = frontRight;
this.rearLeft = rearLeft;
this.rearRight = rearRight;
}
public DifferentialDriveVelocityController(IMotor leftMotor, IMotor rightMotor, IMessageBroker messageBroker, ILogger <DifferentialDriveVelocityController> logger)
{
_leftMotor = leftMotor;
_rightMotor = rightMotor;
_messageBroker = messageBroker;
_log = logger;
}
public SkidSteerDriveTrain(IMotor frontLeft, IMotor frontRight, IMotor rearLeft, IMotor rearRight)
{
this.frontLeft = frontLeft;
this.frontRight = frontRight;
this.rearLeft = rearLeft;
this.rearRight = rearRight;
}
public Controllers()
{
IMotor _motor = default;
_motor = new UnitMotor(ServiceLocatorMonoBehaviour.GetService <CharacterController>());
ServiceLocator.SetService(new TimeRemainingController());
ServiceLocator.SetService(new Inventory());
ServiceLocator.SetService(new PlayerController(_motor));
ServiceLocator.SetService(new FlashLightController());
ServiceLocator.SetService(new WeaponController());
ServiceLocator.SetService(new InputController());
ServiceLocator.SetService(new SelectorController());
ServiceLocator.SetService(new BulletController());
ServiceLocator.SetService(new SaveDataRepository());
ServiceLocator.SetService(new LevelMakerController());
ServiceLocator.SetService(new SmartEnemyesController());
_executeControllers = new IExecute[8];
_executeControllers[0] = ServiceLocator.Resolve <TimeRemainingController>();
_executeControllers[1] = ServiceLocator.Resolve <PlayerController>();
_executeControllers[2] = ServiceLocator.Resolve <FlashLightController>();
_executeControllers[3] = ServiceLocator.Resolve <InputController>();
_executeControllers[4] = ServiceLocator.Resolve <SelectorController>();
_executeControllers[5] = ServiceLocator.Resolve <BulletController>();
_executeControllers[6] = ServiceLocator.Resolve <WeaponController>();
_executeControllers[7] = ServiceLocator.Resolve <SmartEnemyesController>();
}
public static void SetSpeedForDuration(this IMotor device, byte speed, byte power, RotateDirection direction, short duration)
{
speed = speed.AsAngularVelocity(direction);
duration = Math.Min(Math.Max(duration, (short)0), (short)10000);
power = Math.Min(Math.Max(power, (byte)0), (byte)100);
var body = new List <byte>();
body.Add(device.Port);
body.Add(0b00010000);
body.Add(0x09);
body.AddRange(BitConverter.GetBytes(duration));
body.Add(speed);
body.Add(power);
body.Add(0x0000); // end state
body.Add(0x0000); // profile
var bytes = new List <byte>();
bytes.Add((byte)(body.Count() + 2)); // Length
bytes.Add(0b00000000); // Hub ID
bytes.Add(0x81); // Port Output Command
bytes.AddRange(body);
var message = new Message(bytes.ToArray());
device.SendMessage(message);
}
public static void GotoAbsolutePosition(this IMotor device, int position, byte speed, byte power)
{
position = Math.Min(Math.Max(position, device.MinPosition), device.MaxPosition);
speed = Math.Min(Math.Max(speed, (byte)0), (byte)100);
power = Math.Min(Math.Max(power, (byte)0), (byte)100);
var body = new List <byte>();
body.Add(device.Port);
body.Add(0b00010000);
body.Add(0x0D);
body.AddRange(BitConverter.GetBytes(position));
body.Add(speed);
body.Add(power);
body.Add(0x0000); // end state
body.Add(0x0000); // profile
var bytes = new List <byte>();
bytes.Add((byte)(body.Count() + 2)); // Length
bytes.Add(0b00000000); // Hub ID
bytes.Add(0x81); // Port Output Command
bytes.AddRange(body);
var message = new Message(bytes.ToArray());
device.SendMessage(message);
}
public void MoveElevator(IMotor motor, ICabin cabin, IFloor floor)
{
DoorState tempstate = cabin.GetDoorState();
if (tempstate == DoorState.open)
{
_timerSensor.Stop();
cabin.UpdateDoorState(DoorState.close);
floor.UpdateDoorState(DoorState.close);
}
if (_requestManager.HasAnyRequest())
{
_elevatorDirection = _directionManager.EnsureDirection(_currentLevel, _elevatorDirection, _requestManager);
_motionSensor.MoveCabin(motor, cabin, _elevatorDirection);
_currentLevel = floor.GetLevel(cabin, _elevatorDirection, _currentLevel);
cabin.ShowLevel(_currentLevel);
floor.ShowLevel(_currentLevel);
if (_requestManager.FloorHaveRequest(_currentLevel, _elevatorDirection))
{
cabin.changeColorCabinButton(_currentLevel.ToString());
cabin.UpdateDoorState(DoorState.open);
_levelSensor.NotifyArrival(_txtElevator, _currentLevel);
}
}
}
public MovedFollowingObj(Transform transform, IMotor motor, float distance, float maxDistance)
{
_thisUnit = transform;
_thisMotor = motor;
this.distance = distance;
this.maxDistance = maxDistance;
}
static void Main(string[] args)
{
Console.WriteLine("Forma 1 simple factory");
MotorFactory motorFactoryMethod = new MotorFactory();
var diselMethod = motorFactoryMethod.CreateInstance(TypeMotor.Disel);
Console.WriteLine(diselMethod.InyectarCombustible(20));
var gasolinaMethod = motorFactoryMethod.CreateInstance(TypeMotor.Gasolina);
Console.WriteLine(gasolinaMethod.InyectarCombustible(10));
Console.ReadKey();
Console.WriteLine("Forma 2 Factory Method");
IMotorFactory motorFactory = ObtenerMotor(TypeMotor.Gasolina);
IMotor gasolina = motorFactory.CreateInstance();
Console.WriteLine(gasolina.InyectarCombustible(50));
IMotor disel = ObtenerMotor(TypeMotor.Disel).CreateInstance();
Console.WriteLine(disel.InyectarCombustible(540));
Console.ReadKey();
}
private void InitFields()
{
_transform = transform;
try
{
_pirate = GetComponent <IPirate>();
}
catch
{
throw new NullReferenceException("No component that implements the IFactoryLevel interface was found.");
}
try
{
_wheel = _spaceshipWheel.GetComponent <IWheel>();
}
catch
{
throw new NullReferenceException("Wheel field must not be null.");
}
try
{
_motor = _spaceshipMotor.GetComponent <IMotor>();
}
catch
{
throw new NullReferenceException("No component that implements the IMotor interface was found.");
}
}
public Controllers()
{
IMotor motor = default;
if (Application.platform == RuntimePlatform.PS4)
{
//
}
else
{
motor = new UnitMotor(
ServiceLocatorMonoBehaviour.GetService <CharacterController>());
}
ServiceLocator.SetService(new PlayerController(motor));
ServiceLocator.SetService(new FlashLightController());
ServiceLocator.SetService(new InputController());
_executeControllers = new IExecute[3];
_executeControllers[0] = ServiceLocator.Resolve <PlayerController>();
_executeControllers[1] = ServiceLocator.Resolve <FlashLightController>();
_executeControllers[2] = ServiceLocator.Resolve <InputController>();
}
private void OnConnectedKeyboardPage()
{
assignCommandsButton.Sensitive = false;
SpawnThread(delegate()
{
brick.Vehicle.LeftPort = (MotorPort)leftMotorCombobox.GetActiveValue();
brick.Vehicle.RightPort = (MotorPort)rightMotorCombobox.GetActiveValue();
brick.Vehicle.ReverseLeft = leftMotorReverseCheckbutton.Active;
brick.Vehicle.ReverseRight = rightMotorReverseCheckbutton.Active;
switch ((MotorPort)motor3Combobox.GetActiveValue())
{
case MotorPort.OutA:
motor3 = brick.MotorA;
break;
case MotorPort.OutB:
motor3 = brick.MotorB;
break;
case MotorPort.OutC:
motor3 = brick.MotorC;
break;
}
motor3.Reverse = motor3ReverseCheckbutton.Active;
}, false, -1);
}
public HolonomicDriveTrain(IMotor frontLeft, IMotor frontRight, IMotor rearLeft, IMotor rearRight)
{
this.frontLeft = frontLeft;
this.frontRight = frontRight;
this.rearLeft = rearLeft;
this.rearRight = rearRight;
}
private SphereAttack sphereAttack; // later we should probably interface this up so we can swap 'weapons' out
private void Awake()
{
inputActions = new PlayerInputActions();
moter = GetComponent <IMotor>();
sphereAttack = GetComponent <SphereAttack>();
}
public Controllers()
{
//if (Application.platform == RuntimePlatform.PS4)
IMotor motor = default;
motor = new UnitMotor(ServiceLocatorMonoBehavior.GetService <CharacterController>());
ServiceLocator.SetService(new PlayerController(motor));
ServiceLocator.SetService(new Inventory());
ServiceLocator.SetService(new TimeRemainingController());
ServiceLocator.SetService(new FlashLightController());
ServiceLocator.SetService(new InputController());
ServiceLocator.SetService(new SelectionController());
ServiceLocator.SetService(new WeaponController());
ServiceLocator.SetService(new PoolController());
//ServiceLocator.SetService(new EffectController());
_executeControllers = new IExecute[5];
_executeControllers[0] = ServiceLocator.Resolve <TimeRemainingController>();
_executeControllers[1] = ServiceLocator.Resolve <PlayerController>();
_executeControllers[2] = ServiceLocator.Resolve <FlashLightController>();
_executeControllers[3] = ServiceLocator.Resolve <InputController>();
_executeControllers[4] = ServiceLocator.Resolve <SelectionController>();
}
public Car(IMotor motor, IBrake brake, ITransmission transmission, ITire tire)
{
this.Motor = motor;
this.Brake = brake;
this.Transmission = transmission;
this.Tire = tire;
}
public SkidSteerDriveTrain(IMotor frontLeft, IMotor frontRight, IMotor rearLeft, IMotor rearRight)
{
this.frontLeft = frontLeft;
this.frontRight = frontRight;
this.rearLeft = rearLeft;
this.rearRight = rearRight;
}
private void Awake()
{
// this controller will be influencing a motor
_motor = GetComponent <IMotor>();
// setting the target position equates to staying in place
SetTargetPosition(transform.position);
}
public ResourceHarvester(Entity entity, int resourceId, DReal capacity, DReal fillRate) : base(entity)
{
this.motor = entity.GetComponent <IMotor>();
this.resourceId = resourceId;
this.capacity = capacity;
this.fillRate = fillRate;
this.fill = 0;
}
public ResourceHarvester(Entity entity, ComponentPrototype proto) : base(entity)
{
this.motor = entity.GetComponent <IMotor>();
resourceId = World.current.resourceNameToId[proto.data["resource"]];
capacity = DReal.Parse(proto.data["capacity"]);
fillRate = DReal.Parse(proto.data["rate"]);
this.fill = 0;
}
public unsafe SdlGamepad(SdlInputContext ctx, int currentIndex, int instanceId)
{
_ctx = ctx;
InstanceId = instanceId;
ActualIndex = currentIndex;
VibrationMotors = new IMotor[] { new SdlMotor(0, this), new SdlMotor(1, this) };
_controller = ctx.Sdl.GameControllerOpen(currentIndex);
}
public RegulatedMotor(IMotor motor)
{
_innerMotor = motor;
lock (motors)
{
motors.Add(this);
}
}
private void Start()
{
if (_vehicle != null)
{
_motor = _vehicle.GetComponentInChildren <IMotor>();
_steering = _vehicle.GetComponentInChildren <ISteering>();
}
}
public Elevator(TextBox txtElevator)
{
_txtElevator = txtElevator;
_cabin = new Cabin(txtElevator, 0);
_floor = new Floor(txtElevator);
_director = new Director(txtElevator);
_motor = new Motor(txtElevator);
}
private elektronikBeyin(bool kontakDurum, IMotor motor)
{
int hiz = 0;
kontak anahtar = new kontak();
anahtar.kontakKontrol(kontakDurum);
motor.motorHizi(hiz);
}
public MineTruck(Entity entity, ComponentPrototype proto) : base(entity)
{
motor = entity.GetComponent <IMotor>();
mineTypes = proto.data
.Select(kv => new KeyValuePair <int, String>(World.current.resourceNameToId.ContainsKey(kv.Key) ? World.current.resourceNameToId[kv.Key] : -1, kv.Value))
.Where(kv => kv.Key != -1)
.OrderBy(kv => kv.Key)
.ToArray();
}
private void Awake()
{
_homePosition = this.transform.position;
_motorAIController = GetComponent <IMotorAIController>();
_motor = GetComponent <IMotor>();
_animatorHandler = GetComponent <BatAnimatorHandler>();
}
MovedPatrol(Transform transform, GameObject[] pointMoved, IMotor motor)
{
_thisUnit = transform;
_thisMotor = motor;
for (var t = 0; t < pointMoved.Length; t++)
{
this.pointMoved[t] = pointMoved[t].transform.position;
}
}
public void Start() {
childPlayer = GameObject.FindWithTag("Player");
maskPlayer = LayerMask.NameToLayer("Player");
motor = childPlayer.GetComponent<IMotor>();
mCamera = Pathways.mainCamera.transform;
gameObject.GetComponentInChildren<Camera>().backgroundColor = RenderSettings.fogColor;
if (mapPlayer) mapPlayer = Instantiate((mapPlayer as Object), transform.position, transform.rotation) as Transform;
util::CameraFade.StartAlphaFade(RenderSettings.fogColor, true, 0.5f, 0.5f);
}
public DriveServiceFactory(IMotor motor1, IMotor motor2, IMotorPinMapping pinMappingService, ILogger <DriveService> logger)
{
this.motor1 = motor1;
this.motor2 = motor2;
this.motorPinMapping = pinMappingService;
this.logger = logger;
motor1.Initialize(motorPinMapping.MotorPinMappings[1].ToList());
motor2.Initialize(motorPinMapping.MotorPinMappings[2].ToList());
}
/*
* private void Start()
* {
* _thisMotor = gameObject.GetComponent<IMotor>();
* _thisVisible = gameObject.GetComponent<IVisible>();
* _lastDistance = _thisVisible.GetDistanceVisible();
* _lastAngle = _thisVisible.GetAngleVisible();
* }
*/
public FindAngry(Transform transform, IMotor motor, IVisible visible, float distanceFind)
{
_thisTransform = transform;
_thisMotor = motor;
_thisVisible = visible;
this.distanceFind = distanceFind;
_lastDistance = _thisVisible.GetDistanceVisible();
_lastAngle = _thisVisible.GetAngleVisible();
}
public void Start() {
childPlayer = GameObject.FindWithTag("Player");
maskPlayer = LayerMask.NameToLayer("Player");
motor = childPlayer.GetComponent<CharacterMotor>();
mCamera = GameObject.FindGameObjectsWithTag("MainCamera")[0].transform;
gameObject.GetComponentInChildren<Camera>().backgroundColor = RenderSettings.fogColor;
if (mapPlayer) mapPlayer = Instantiate((mapPlayer as Object), transform.position, transform.rotation) as Transform;
util::CameraFade.StartAlphaFade(RenderSettings.fogColor, true, 0.5f, 0.5f);
deadtemp = Instantiate(deadPlayer,childPlayer.transform.position,childPlayer.transform.rotation) as Transform;
//deadtemp.GetComponent<Rigidbody>().velocity = gameObject.GetComponentInChildren<CharacterMotor>().velocity;
deadtemp.parent = transform;
deadtemp.gameObject.SetActive(false);
}
public DirectorManouver(TextBox text, IFloorPanel floorPanel, ICabinPanel cabinpanel, IFloorDisplay floorDisplay, ICabinDisplay cabinDisplay, IMotor motor, IDoor floorDoor, IDoor cabinDoor)
{
_txtElevator = text;
_floorPanel = floorPanel;
_cabinPanel = cabinpanel;
_floorDisplay = floorDisplay;
_cabinDisplay = cabinDisplay;
_motor = motor;
_floorDoor = floorDoor;
_cabinDoor = cabinDoor;
_callControl = new CallControl();
_cabinSensor = new CabinSensor();
}
public ArmMotorController()
{
Scarlet.Utilities.StateStore.Start("ARM");
BBBPinManager.AddMappingPWM(ShoulderPin);
BBBPinManager.AddMappingPWM(ElbowPin);
BBBPinManager.AddMappingPWM(WristPin1);
BBBPinManager.AddMappingPWM(WristPin2);
BBBPinManager.AddMappingGPIO(WristDirectionPin1, true, ResistorState.PULL_UP);
BBBPinManager.AddMappingGPIO(WristDirectionPin2, true, ResistorState.PULL_UP);
BBBPinManager.AddMappingADC(ShoulderPotPin);
BBBPinManager.AddMappingADC(ElbowPotPin);
BBBPinManager.AddMappingADC(WristPotPin);
BBBPinManager.ApplyPinSettings(BBBPinManager.ApplicationMode.APPLY_IF_NONE);
BeagleBone.Initialize(SystemMode.DEFAULT, true);
const double DegToRad = Math.PI / 180.0;
a = new Arm((0, 0, Math.PI / 2, Math.PI / 2, 0, 0, 6.8),
(0, 0, -76 * DegToRad, 100 * DegToRad, 0, 0, 28.0),
(0, 0, -168.51 * DegToRad, -10 * DegToRad, 0, 0, 28.0),
(-2 * Math.PI, 2 * Math.PI, -Math.PI / 2, Math.PI / 2, 0, 0, 12.75));
//(0, 12.75, -Math.PI / 2, Math.PI / 2));
LowPass <float> ShoulderFilter = new LowPass <float>();
LowPass <float> ElbowFilter = new LowPass <float>();
ShoulderPWM = PWMBBB.PWMDevice1.OutputB;
ElbowPWM = PWMBBB.PWMDevice1.OutputA;
IPWMOutput WristPWM1 = PWMBBB.PWMDevice2.OutputB;
IPWMOutput WristPWM2 = PWMBBB.PWMDevice2.OutputA;
IDigitalOut WristDirectionGPIO1 = new DigitalOutBBB(WristDirectionPin1);
IDigitalOut WristDirectionGPIO2 = new DigitalOutBBB(WristDirectionPin2);
IAnalogueIn ShoulderADC = new AnalogueInBBB(ShoulderPotPin);
IAnalogueIn ElbowADC = new AnalogueInBBB(ElbowPotPin);
IAnalogueIn WristADC = new AnalogueInBBB(WristPotPin);
Shoulder = new TalonMC(ShoulderPWM, 0.2f, ShoulderFilter);
Elbow = new TalonMC(ElbowPWM, 0.2f, ElbowFilter);
Wrist1 = new CytronMD30C(WristPWM1, WristDirectionGPIO1, 0.3f);
Wrist2 = new CytronMD30C(WristPWM2, WristDirectionGPIO2, 0.3f);
ShoulderPot = new Potentiometer(ShoulderADC, 300);
ElbowPot = new Potentiometer(ElbowADC, 300);
WristPot = new Potentiometer(WristADC, 300);
}
static Offset <FMotor> serialise_motor(FlatBufferBuilder b, IMotor motor, string identifier)
{
var n = b.CreateString(identifier);
FMotor.StartFMotor(b);
FMotor.AddMotorName(b, n);
FMotor.AddValidInput(
b,
FRange.CreateFRange(
b,
motor.MotionValueSpace._Decimal_Granularity,
motor.MotionValueSpace._Max_Value,
motor.MotionValueSpace._Min_Value));
FMotor.AddEnergySpentSinceReset(b, motor.GetEnergySpend());
return(FMotor.EndFMotor(b));
}
public VerticalDriveTrain(IMotor frontLeft, IMotor frontRight, IMotor rear)
{
this.frontLeft = frontLeft;
this.frontRight = frontRight;
this.rear = rear;
}
public Wheel(Vector position, Matrix transformMatrix, IMotor motor)
{
Position = position;
Motor = motor;
Motor.NeutralMode = NeutralMode.Brake;
TransformMatrix = transformMatrix;
}
/// <summary>
/// Vypočítá délku nohy při pohledu ze zhora
/// </summary>
/// <param name="motorZ">motor zdvihu nohy</param>
/// <returns>délku nohy při pohledu ze zhora</returns>
private double getLegLeangthFromUpView(IMotor motorZ)
{
int angle = motorZ.angle;
if (angle > 90)
{
angle %= 90;
}
return (leangthOfLeg * Math.Sin(angle)) + 10.5;
}
/// <summary>
/// Otočí kolo nohy ve směru pohybu
/// </summary>
/// <param name="direction">směr ve stupních 0 až 359</param>
/// <param name="motorZK">motor pro otáčení nohy</param>
/// <param name="motorR">motor pro otáčení kola nohy</param>
/// <param name="angleCorection">korekce úhlu nohy...</param>
/// <returns>true pokud obrátit směr pohybu kola</returns>
private bool rotateWheelForMove(int direction, IMotor motorZK, IMotor motorR, IMotor motorP, int angleCorection)
{
bool reverseWheelSpeed = false;
int kartezLegAngle = MathLibrary.changeScale(motorZK.angle, motorZK.minAngle, motorZK.maxAngle, 0, 90);
if (angleCorection < 0)
{
if (direction - (angleCorection - kartezLegAngle) < 0)
{
reverseWheelSpeed = !reverseWheelSpeed;
}
}
else
{
if (direction - (angleCorection - kartezLegAngle) > 0)
{
reverseWheelSpeed = !reverseWheelSpeed;
}
}
int kartezWheelAngle = 180 - 90 - (180 - direction - kartezLegAngle);
kartezWheelAngle = kartezWheelAngle % 180;
if (kartezWheelAngle < 0)
{
kartezWheelAngle += 180;
reverseWheelSpeed = !reverseWheelSpeed;
}
int wheelAngle = kartezWheelAngle;
if (Math.Abs(wheelAngle - motorR.angle) > ZKTolerance)
{
motorP.disable();
}
motorR.moveToAngle(wheelAngle);
return reverseWheelSpeed;
}
private void RegisterPropeller(IMotor propellor)
{
for(byte ndx = 0; ndx < _propellors.Length; ndx++)
{
if(_propellors[ndx] == null)
{
_propellors[ndx] = propellor;
_propellors[ndx].SetScale(MotorScale);
return;
}
}
}
/// <summary>
/// Start a simulation
/// </summary>
/// <param name="initial">The initial state</param>
/// <param name="motor">The motor object</param>
/// <param name="load">The load</param>
/// <param name="path">The path</param>
public bool Start(IRecord initial, IMotor motor, ILoad load, IPath path, SimulationEnv env)
{
_record = initial;
_motor = motor;
_load = load;
_path = path;
double mass = _load.Mass + _motor.CoilMass;
int count = _record.Time.Length;
if (_record.Time == null || (_record.Position == null && _record.Velocity == null && _record.Acceleration == null))
return false;
if (_record.Acceleration == null)
_record.Acceleration = new double[count];
if (_record.Velocity == null)
_record.Velocity = new double[count];
if (_record.Position == null)
_record.Position = new double[count];
_record.RMSforce = Math.Pow(mass * _record.Acceleration[0], 2);
if (_record.Acceleration != null && !isZero(_record.Acceleration))
{
if (isZero(_record.Velocity))
{
for (int i = 1; i < count; i++)
{
_record.Velocity[i] = (_record.Time[i] - _record.Time[i - 1]) * _record.Acceleration[i] + _record.Velocity[i - 1];
_record.Position[i] = (_record.Time[i] - _record.Time[i - 1]) * _record.Velocity[i] + _record.Position[i - 1];
_record.RMSforce += Math.Pow(mass * _record.Acceleration[i] + env.StaticFriction + env.DynamicFriction * _record.Velocity[i] + env.ThrustForce, 2);
}
}
else if (!isZero(_record.Velocity) && isZero(_record.Position))
{
for (int i = 1; i < count; i++)
{
_record.Position[i] = (_record.Time[i] - _record.Time[i - 1]) * _record.Velocity[i] + _record.Position[i - 1];
_record.RMSforce += Math.Pow(mass * _record.Acceleration[i] + env.StaticFriction + env.DynamicFriction * _record.Velocity[i] + env.ThrustForce, 2);
}
}
else
{
for (int i = 1; i < count; i++)
{
_record.RMSforce += Math.Pow(mass * _record.Acceleration[i] + env.StaticFriction + env.DynamicFriction * _record.Velocity[i] + env.ThrustForce, 2);
}
}
}
else if (_record.Velocity != null && !isZero(_record.Velocity))
{
if (isZero(_record.Position))
{
for (int i = 1; i < count; i++)
{
_record.Position[i] = (_record.Time[i] - _record.Time[i - 1]) * _record.Velocity[i] + _record.Position[i - 1];
_record.Acceleration[i] = (_record.Velocity[i] - _record.Velocity[i - 1]) / (_record.Time[i] - _record.Time[i - 1]);
_record.RMSforce += Math.Pow(mass * _record.Acceleration[i] + env.StaticFriction + env.DynamicFriction * _record.Velocity[i] + env.ThrustForce, 2);
}
}
else
{
for (int i = 1; i < count; i++)
{
_record.Acceleration[i] = (_record.Velocity[i] - _record.Velocity[i - 1]) / (_record.Time[i] - _record.Time[i - 1]);
_record.RMSforce += Math.Pow(mass * _record.Acceleration[i] + env.StaticFriction + env.DynamicFriction * _record.Velocity[i] + env.ThrustForce, 2);
}
}
}
else
{
for (int i = 1; i < count; i++)
{
_record.Velocity[i] = (_record.Position[i] - _record.Position[i - 1]) / (_record.Time[i] - _record.Time[i - 1]);
_record.Acceleration[i] = (_record.Velocity[i] - _record.Velocity[i - 1]) / (_record.Time[i] - _record.Time[i - 1]);
_record.RMSforce += Math.Pow(mass * _record.Acceleration[i] + env.StaticFriction + env.DynamicFriction * _record.Velocity[i] + env.ThrustForce, 2);
}
}
double efficiency = env.MechEfficiency * 0.01;
_record.RMSforce = Math.Sqrt(_record.RMSforce / count) / efficiency;
_record.MAXforce = (mass * _record.Acceleration.Max() + env.StaticFriction + env.DynamicFriction * _record.Velocity.Max() + env.ThrustForce) / efficiency;
_record.RMScurrent = _record.RMSforce / _motor.ForceConstant;
_record.MAXcurrent = _record.MAXforce / _motor.ForceConstant;
_record.TemperatureRise = (Math.Pow(_record.RMSforce / _motor.MotorConstant, 2) * _motor.ThermalResistance);
Write();
return true;
}
//constructor
public Project(IMotor motor)
{
_Motor = (Motor)motor;
}
/// <summary>
/// Bude pohybovat kolem v daném směru a vrátí rychlost ve správném směru
/// </summary>
/// <param name="motorZK">motor pro otáčení nohy kola</param>
/// <param name="motorR">motor pro otáčení kola</param>
/// <param name="motorP">motor pro pohon kola</param>
/// <param name="direction">směrm kterým se má pohybovat 0 až 359</param>
/// <param name="speed">rychlost jakou se má pohybovat -100 až 100</param>
/// <param name="angleCorection">korekce úhlu nohy...</param>
/// <return>rychlost, jakou se má motor pohybovat</return>
private int setWheelToDirection(IMotor motorZK, IMotor motorR, IMotor motorP, int direction, int speed, int angleCorection)
{
bool reverseWheelSpeed = rotateWheelForMove(direction, motorZK, motorR, motorP, angleCorection);
int rev = 1;
if (reverseWheelSpeed)
{
rev = -1;
}
return speed * rev;
}
public Wheel(Vector position, Vector driveAxis, Vector rollAxis, IMotor motor)
: this(position, Matrix.FromCoordinateAxes(driveAxis, rollAxis), motor)
{
}
private void OnConnectedKeyboardPage(){
assignCommandsButton.Sensitive = false;
SpawnThread(delegate()
{
brick.Vehicle.LeftPort = (MotorPort)leftMotorCombobox.GetActiveValue();
brick.Vehicle.RightPort = (MotorPort) rightMotorCombobox.GetActiveValue();
brick.Vehicle.ReverseLeft = leftMotorReverseCheckbutton.Active;
brick.Vehicle.ReverseRight = rightMotorReverseCheckbutton.Active;
switch((MotorPort) motor3Combobox.GetActiveValue()){
case MotorPort.OutA:
motor3 = brick.MotorA;
break;
case MotorPort.OutB:
motor3 = brick.MotorB;
break;
case MotorPort.OutC:
motor3 = brick.MotorC;
break;
}
motor3.Reverse = motor3ReverseCheckbutton.Active;
},false,-1);
}
protected void OnMotor3ComboboxChanged (object sender, EventArgs e)
{
if(brick == null)
return;
switch((MotorPort) motor3Combobox.GetActiveValue()){
case MotorPort.OutA:
motor3 = brick.MotorA;
break;
case MotorPort.OutB:
motor3 = brick.MotorB;
break;
case MotorPort.OutC:
motor3 = brick.MotorC;
break;
}
settings.Motor3 = (string) motor3Combobox.GetActiveValue(1);
settings.Save();
}
// Access controls to a motor
public ThrottledMotor(IMotor motor)
{
_motor = motor;
speed = 0;
}
public void ConnectFour(IMotor left, IMotor right)
{
_left = new ThrottledMotor(left);
_right = new ThrottledMotor(right);
}
public Vehiculo(IMotor motor)
{
this.motor = motor;
}
// La implementacion de los vehículos se desarrolla de forma independiente
public Berlina(IMotor motor, int capacidadMaletero) : base(motor)
{
this.capacidadMaletero = capacidadMaletero;
}
public Robot()
{
Sensors = new SensorPoller();
#if NoMotors
MotorA = new FakeMotor{Name = "A"};
MotorB = new FakeMotor{Name = "B"};
MotorC = new FakeMotor{Name = "C"};
#else
MotorA = new DCMotor(PWM.Pin.PWM1, FEZ_Pin.Digital.Di28, FEZ_Pin.Digital.Di29) { SpeedCharacteristic = DCMotor.Characteristic.Linear };
MotorB = new DCMotor(PWM.Pin.PWM2, FEZ_Pin.Digital.Di30, FEZ_Pin.Digital.Di31) { SpeedCharacteristic = DCMotor.Characteristic.Linear };
MotorC = new DCMotor(PWM.Pin.PWM3, FEZ_Pin.Digital.Di32, FEZ_Pin.Digital.Di33) { SpeedCharacteristic = DCMotor.Characteristic.Linear };
#endif
Matrix wheelMatrix = new Matrix(-60 * Math.PI, 0, 0, 12 * Math.PI);
Vector wheelPosition = Vector.J * 95;
Compass = new FieldHeadingFinder(new HMC6352());
Drive = new ControlledHolonomicDrive(Compass,
new HolonomicDrive.Wheel(
Matrix.FromClockwiseRotation(Math.PI / 3) * wheelPosition,
Matrix.FromClockwiseRotation(Math.PI / 3) * wheelMatrix,
// MotorA
new RegulatedMotor(MotorA)
),
new HolonomicDrive.Wheel(
Matrix.Rotate180 * wheelPosition,
Matrix.Rotate180 * wheelMatrix,
// MotorB
new RegulatedMotor(MotorB)
),
new HolonomicDrive.Wheel(
Matrix.FromClockwiseRotation(-Math.PI / 3) * wheelPosition,
Matrix.FromClockwiseRotation(-Math.PI / 3) * wheelMatrix,
//MotorC
new RegulatedMotor(MotorC)
)
);
#if USEOLDDRIVE
OldDrive = new HolonomicDrive(
new HolonomicDrive.Wheel(
Matrix.FromClockwiseRotation(Math.PI / 3) * wheelPosition,
Matrix.FromClockwiseRotation(Math.PI / 3) * wheelMatrix,
MotorA
),
new HolonomicDrive.Wheel(
Matrix.Rotate180 * wheelPosition,
Matrix.Rotate180 * wheelMatrix,
MotorB
),
new HolonomicDrive.Wheel(
Matrix.FromClockwiseRotation(-Math.PI / 3) * wheelPosition,
Matrix.FromClockwiseRotation(-Math.PI / 3) * wheelMatrix,
MotorC
)
);
#endif
//Kicker = new Solenoid(PWM.Pin.PWM5);
BallDetector = IntensityDetectorArray.FromRadialSensors(Sensors.IR);
Button = new Button(FEZ_Pin.Digital.An5);
LightGate = new LightGate(FEZ_Pin.AnalogIn.An0, 350, 160);
LEDs = new LEDGroup(FEZ_Pin.Digital.An1, FEZ_Pin.Digital.An2, FEZ_Pin.Digital.An3, FEZ_Pin.Digital.An4);
RegulatedMotor.EnableRegulatedMotorAlgorithm(true);
}
// La implementacion de los vehículos se desarrolla de forma independiente
public Monovolumen(IMotor motor, bool puertaCorrediza)
: base(motor)
{
this.puertaCorrediza = puertaCorrediza;
}
