/// <summary>
/// Initializes an instance of the OnPIDChanges class
/// </summary>
/// <param name="form">The associated form</param>
/// <param name="kp">The proportional constant</param>
/// <param name="ki">The integral constant</param>
/// <param name="kd">The derivative constant</param>
public OnPIDChanges(ObstacleAvoidanceForm form, double kp, double ki, double kd)
: base(form)
{
this.kp = kp;
this.ki = ki;
this.kd = kd;
}
/// <summary>
/// Initializes an instance of the OnPIDChanges class
/// </summary>
/// <param name="form"></param>
/// <param name="kp"></param>
/// <param name="ki"></param>
/// <param name="kd"></param>
/// <param name="vMax"></param>
/// <param name="vMin"></param>
/// <param name="vIntMax"></param>
/// <param name="doSaveState"></param>
public OnPIDChanges(ObstacleAvoidanceForm form, double kp, double ki, double kd, double vMax, double vMin, double vIntMax, bool doSaveState)
: base(form)
{
this.Kp = kp;
this.Ki = ki;
this.Kd = kd;
this.MaxPidValue = vMax;
this.MinPidValue = vMin;
this.MaxIntegralError = vIntMax;
this.DoSaveState = doSaveState;
}
/// <summary>
/// Initializes an instance of the OnQueryFrame class
/// </summary>
/// <param name="form">The associated form</param>
public OnQueryFrame(ObstacleAvoidanceForm form)
: base(form)
{
}
/// <summary>
/// Initializes an instance of the OnClosed class
/// </summary>
/// <param name="form">The associated Form</param>
public OnClosed(ObstacleAvoidanceForm form)
: base(form)
{
}
/// <summary>
/// Initializes an instance of the OnLoad class
/// </summary>
/// <param name="form">The associated Form</param>
public OnLoad(ObstacleAvoidanceForm form)
: base(form)
{
}
/// <summary>
/// Initializes an instance of the ObstacleAvoidanceFormEvent class
/// </summary>
/// <param name="obstacleAvoidanceForm">The associated Form</param>
public ObstacleAvoidanceFormEvent(ObstacleAvoidanceForm obstacleAvoidanceForm)
{
this.obstacleAvoidanceForm = obstacleAvoidanceForm;
}
/// <summary>
/// Handle the Form Load event for the ObstacleAvoidance Form
/// </summary>
/// <param name="onLoad">The load message</param>
/// <returns>An iterator</returns>
private IEnumerator<ITask> OnLoadHandler(OnLoad onLoad)
{
this.obstacleAvoidanceForm = onLoad.ObstacleAvoidanceForm;
LogInfo("Loaded Form");
yield return this.SubscribeToJoystick();
}
