public async Task <string> walkStraightType2(double speed, double distance, double angle, double maneuverTime)
{
try
{
if (angle != 0.0f)
{
angle = angleOrientation(angle);
var radian = Math.PI * angle / 180;
var angularSpeed = radian / maneuverTime;
var angular = new RosSharp.RosBridgeClient.MessageTypes.Geometry.Vector3(0.0, 0.0, angularSpeed);
velocityPublisher.UpdateAngularVelocity(angular);
await Task.Delay((int)(maneuverTime * (1200 + (angularSpeed * 120))));
angular.z = 0.0;
velocityPublisher.UpdateAngularVelocity(angular);
}
var distanceTime = distance / speed;
var velocity = new RosSharp.RosBridgeClient.MessageTypes.Geometry.Vector3(speed, 0.0, 0.0);
velocityPublisher.UpdateLinearVelocity(velocity);
await Task.Delay((int)(distanceTime * (1200 + (speed * 120))));
velocity.x = 0.0;
velocityPublisher.UpdateLinearVelocity(velocity);
}
catch (System.Exception ex)
{
Console.WriteLine(ex.ToString());
return("error updating velocity");
}
return("success");
}
public string walkCurvedType1(double linearSpeed, double angularSpeed)
{
try
{
var angular = new RosSharp.RosBridgeClient.MessageTypes.Geometry.Vector3(0.0, 0.0, angularSpeed);
var linear = new RosSharp.RosBridgeClient.MessageTypes.Geometry.Vector3(linearSpeed, 0.0, 0.0);
velocityPublisher.UpdateVelocity(linear, angular);
}
catch (System.Exception ex)
{
Console.WriteLine(ex.ToString());
return("error updating velocity");
}
return("success");
}
public string walkCurvedType2(double linearSpeed, double radius, double angle)
{
try
{
var radians = (angle * 180) / (Math.PI);
var angularSpeed = (linearSpeed * Math.Sin(radians)) / radius;
var angular = new RosSharp.RosBridgeClient.MessageTypes.Geometry.Vector3(0.0, 0.0, angularSpeed);
var linear = new RosSharp.RosBridgeClient.MessageTypes.Geometry.Vector3(linearSpeed, 0.0, 0.0);
velocityPublisher.UpdateVelocity(linear, angular);
}
catch (System.Exception ex)
{
Console.WriteLine(ex.ToString());
return("error updating velocity");
}
return("success");
}