public CheckpointPIDController(Drone drone, float mass, float gravity, AbstractDroneCommand droneCommand, Parameter[] parameters, List<Checkpoint> checkpoints)
     : base(drone, mass, gravity, droneCommand, parameters)
 {
     _targetCheckpoints = checkpoints;
     _isStarted = false;
     _rotorsEnabled = false;
 }
Exemplo n.º 2
0
        public SimplePIDController(Drone drone, float mass, float gravity, AbstractDroneCommand droneCommand, Parameter[] parameters)
        {
            _drone = drone;
            _droneMass = mass;
            _gravity = gravity;
            _droneCommand = droneCommand;
            _gravity = gravity;

            _altParameter = new Parameter(ParameterType.Altitude, new Coefficients(0, 0, 0));
            _yawParameter = new Parameter(ParameterType.Yaw, new Coefficients(0, 0, 0));
            _pitchParameter = new Parameter(ParameterType.Pitch, new Coefficients(0, 0, 0));
            _rollParameter = new Parameter(ParameterType.Roll, new Coefficients(0, 0, 0));

            foreach (Parameter param in parameters)
            {
                switch (param.Type)
                {
                    case ParameterType.Altitude:
                        _altParameter = param;
                        break;

                    case ParameterType.Pitch:
                        _pitchParameter = param;
                        break;

                    case ParameterType.Roll:
                        _rollParameter = param;
                        break;

                    case ParameterType.Yaw:
                        _yawParameter = param;
                        break;
                }
            }
        }
Exemplo n.º 3
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 public PlayerController(PlayerInteraction player, Drone drone, float mass, float gravity, AbstractDroneCommand droneCommand, Parameter[] parameters)
     : base(drone, mass, gravity, droneCommand, parameters)
 {
     _command = droneCommand;
     _player = player;
     _deltaZ = 0;
     _drone = drone;
     _isStarted = false;
     return;
 }