/// <summary>
///
/// </summary>
/// <param name="target">has to be in range[0, 100][%]</param>
public void SetTarget(double target)
{
if (Limiter.LimitAndReturnTrueIfLimitted(ref target, 0, 100))
{
Logger.Log(this, "target brake is not in range [0, 100]", 1);
}
double calculatedSteering;
if (alertBrakeActive)
{
calculatedSteering = regulator.SetTargetValue(ALERT_BRAKE_BRAKE_SETTING);
}
else if (stopModeOn)
{
calculatedSteering = regulator.SetTargetValue(100);
}
else
{
calculatedSteering = regulator.SetTargetValue(target);
}
//this will also invoke evNewBrakeSettingCalculated event
BrakeSteering = calculatedSteering;
}
void car_evTargetSteeringWheelAngleChanged(object sender, TargetSteeringWheelAngleChangedEventArgs args)
{
double calculatedSteering = regulator.SetTargetValue(args.GetTargetWheelAngle());
NewSteeringWheelSettingCalculatedEventHandler newWheelSteeringCalculatedEvent = evNewSteeringWheelSettingCalculated;
if (newWheelSteeringCalculatedEvent != null)
{
newWheelSteeringCalculatedEvent(this, new NewSteeringWheelSettingCalculateddEventArgs(calculatedSteering));
}
}
/// <summary>
/// depending on what is target speed it can have different meanings
/// speed >> 0 ---> going forward
/// speed ~= 0 ---> stand still mode
/// speed << 0 ---> going backward
/// </summary>
/// <param name="sender"></param>
/// <param name="args"></param>
void Car_evTargetSpeedChanged(object sender, TargetSpeedChangedEventArgs args)
{
targetSpeedLocalCopy = args.GetTargetSpeed();
Logger.Log(this, String.Format("target speed changed to: {0}", args.GetTargetSpeed()));
if (targetSpeedLocalCopy <= MAX_STAND_STILL_SPEED_IN_MPS && targetSpeedLocalCopy >= MIN_STAND_STILL_SPEED_IN_MPS)
{
Mode = RideMode.standStill;
}
else if (targetSpeedLocalCopy > MAX_STAND_STILL_SPEED_IN_MPS)
{
Mode = RideMode.forward;
}
else //if targetSpeedLocalCopy < MIN_STAND_STILL_SPEED_IN_MPS
{
Mode = RideMode.backward;
}
//this setter also sends event "evNewSpeedSettingCalculated"
SpeedSteering = regulator.SetTargetValue(targetSpeedLocalCopy);
}