public void SetRotateRate(RotateRate rate) //不改变方向，只改变转速，界面
{
_rotateController.SetRotateRate(rate);
if (_isSectionSweeping)
{
BeginSectionSweep(_sweepSection); //扇扫状态,重新计算惯性区域
}
}
public void GetSweepModeTest()
{
AntennaRotateController controller = new AntennaRotateController();
RotateDirection direction = RotateDirection.ClockWise;
RotateRate rate = RotateRate.Rpm10;
RotateMode expectedMode = RotateMode.ClockWise10;
Assert.AreEqual(expectedMode, AntennaRotateController.GetSweepMode(direction, rate));
direction = RotateDirection.CounterClockWise;
rate = RotateRate.Rpm10;
expectedMode = RotateMode.CounterClockWise10;
Assert.AreEqual(expectedMode, AntennaRotateController.GetSweepMode(direction, rate));
}
public static RotateMode GetSweepMode(RotateDirection direction, RotateRate rate)
{
int sign;
switch (direction)
{
case RotateDirection.ClockWise:
sign = 1;
break;
case RotateDirection.CounterClockWise:
sign = -1;
break;
default:
throw new ArgumentOutOfRangeException(nameof(direction), direction, null);
}
return((RotateMode)((int)rate * sign));
}
public void GetSweepModeTest()
{
RotateRate rate = RotateRate.Rpm5;
RotateDirection direction = RotateDirection.ClockWise;
RotateMode expectedMode = RotateMode.ClockWise5;
Assert.AreEqual(expectedMode, AntennaRotateController.GetSweepMode(direction, rate));
rate = RotateRate.Rpm0;
direction = RotateDirection.ClockWise;
expectedMode = RotateMode.Stop;
Assert.AreEqual(expectedMode, AntennaRotateController.GetSweepMode(direction, rate));
rate = RotateRate.Rpm0;
direction = RotateDirection.CounterClockWise;
expectedMode = RotateMode.Stop;
Assert.AreEqual(expectedMode, AntennaRotateController.GetSweepMode(direction, rate));
rate = RotateRate.Rpm10;
direction = RotateDirection.CounterClockWise;
expectedMode = RotateMode.CounterClockWise10;
Assert.AreEqual(expectedMode, AntennaRotateController.GetSweepMode(direction, rate));
}
// Use this for initialization
void Start()
{
rate = gameObject.GetComponent <RotateRate>();
errors = new float[objects.Length];
prevError = new float[objects.Length];
proportional = new float[objects.Length];
integral = new float[objects.Length];
derivative = new float[objects.Length];
negs = new int[objects.Length];
for (int i = 0; i < objects.Length; i++)
{
proportional[i] = 0;
integral[i] = 0;
derivative[i] = 0;
prevError[i] = 0;
}
}
//设置天线转速 public void AntennaSetRotationRate(RotateRate rate) => new AntennaSetRotationRateCommand(rate).Execute();
public AntennaSetRotationRateCommand(RotateRate rate) : base()
{
this.rate = rate;
}
public void SetSweepModeData(RotateDirection direction, RotateRate rate)
{
Direction = direction;
Rate = rate;
Mode = GetSweepMode(); //默认值为顺时针5转每分钟
}
public void SetRotateRate(RotateRate rotateRate)
{
SetSweepModeData(Direction, rotateRate);
//StartSweep();
Sweep();
}
