public Ping(KUKARobot robot, ThreadSafeChart chart)
{
this.robot = robot;
this.chart = chart;
polyfitX = new Polyfit(1);
polyfitY = new Polyfit(1);
polyfitZ = new Polyfit(2);
predictedTimeSamples = new List <double>();
// TUTAJ NA RAZIE NA PALE DAC TEN WEKTOR TRANZLACJI Z KUKI
prevBallPosition = Vector <double> .Build.DenseOfArray(new double[] { 791.016, 743.144, 148.319 });
robot.FrameReceived += ProcessRobotData;
}
public Ping_FlyVertically(KUKARobot robot, ThreadSafeChart chart)
{
this.robot = robot;
this.chart = chart;
robot.FrameReceived += frame => {
if (ballHit)
{
return;
}
if (robotMoved && robot.IsTargetPositionReached)
{
ballHit = true;
robot.MoveTo(robot.Position, RobotVector.Zero, 1.5);
}
};
}