public AnalogSensor(CommunicationTask cTask, CancellationToken ct, int si, AnalogPinId p, int vct)
: base("AnalogSensor", cTask, ct, si)
{
pin = p;
valueChangedThreshold = vct;
Start();
}
public AnalogSensor(CommunicationTask cTask, CancellationToken ct, int si, AnalogPinId p, int vct)
: base("AnalogSensor", cTask, ct, si)
{
pin = p;
valueChangedThreshold = vct;
Start();
}
public RangerSensorIR10_80(string name, SensorPose pose, IAbstractRobotHardware brick, AnalogPinId pinId, int frequency, double threshold)
{
this.Name = name;
this.Pose = pose;
// reliably measured range:
this.MinDistanceMeters = 0.11d; // shows 10cm when 10 cm or closer
this.MaxDistanceMeters = 0.62d; // shows 0.64 at infinity
this.gp2d12 = brick.produceSharpGP2D12(pinId, frequency, threshold);
gp2d12.DistanceChanged += new HardwareComponentEventHandler(ir_DistanceChanged);
}
public IAnalogSensor produceAnalogSensor(AnalogPinId pin, int updateFrequency, double valueChangedThreshold)
{
return(new AnalogSensor(commTask, tokenSource.Token, updateFrequency, pin, (int)valueChangedThreshold));
}
public ISharpGP2D12 produceSharpGP2D12(AnalogPinId pin, int updateFrequency, double distanceChangedThreshold)
{
throw new NotImplementedException();
}
public RangerSensorIR20_150(string name, SensorPose pose, IAbstractRobotHardware brick, AnalogPinId pinId, int frequency, double threshold)
{
this.Name = name;
this.Pose = pose;
// reliably measured range:
this.MinDistanceMeters = 0.26d; // shows 0.22 when too close
this.MaxDistanceMeters = 1.52d; // shows 1.60 at infinity
this.gp2d12 = brick.produceSharpGP2D12(pinId, frequency, threshold);
gp2d12.DistanceChanged += new HardwareComponentEventHandler(ir_DistanceChanged);
}
public IAnalogSensor produceAnalogSensor(AnalogPinId pin, int updateFrequency, double valueChangedThreshold)
{
return new AnalogSensor(commTask, tokenSource.Token, updateFrequency, pin, (int)valueChangedThreshold);
}
public ISharpGP2D12 produceSharpGP2D12(AnalogPinId pin, int updateFrequency, double distanceChangedThreshold)
{
throw new NotImplementedException();
}
