public PIDSteeringWheelAngleRegulator(ICar car)
{
Car = car;
regulator = new PIDRegulator(new Settings(), "steering wheel angle regulator");
car.evTargetSteeringWheelAngleChanged += new TargetSteeringWheelAngleChangedEventHandler(car_evTargetSteeringWheelAngleChanged);
car.CarComunicator.evSteeringWheelAngleInfoReceived += new SteeringWheelAngleInfoReceivedEventHandler(CarComunicator_evSteeringWheelAngleInfoReceived);
}
public PIDBrakeRegulator(ICar car)
{
ICar = car;
regulator = new PIDRegulator(new Settings(), "brake PID regulator");
ICar.evTargetSpeedChanged += ICar_evTargetSpeedChanged;
ICar.SpeedRegulator.evNewSpeedSettingCalculated += SpeedRegulator_evNewSpeedSettingCalculated;
ICar.CarComunicator.evBrakePositionReceived += CarComunicator_evBrakePositionReceived;
evNewBrakeSettingCalculated += PIDBrakeRegulator_evNewBrakeSettingCalculated;
ICar.evAlertBrake += ICar_evAlertBrake;
}
public PIDSpeedRegulator(ICar parent)
{
Car = parent;
CarComunicator = parent.CarComunicator;
regulator = new PIDRegulator(new Settings(), "speed PID regulator");
Car.evAlertBrake += new EventHandler(Car_evAlertBrake);
Car.evTargetSpeedChanged += new TargetSpeedChangedEventHandler(Car_evTargetSpeedChanged);
evNewSpeedSettingCalculated += new NewSpeedSettingCalculatedEventHandler(PIDSpeedRegulator_evNewSpeedSettingCalculated);
CarComunicator.evSpeedInfoReceived += new SpeedInfoReceivedEventHander(CarComunicator_evSpeedInfoReceived);
}
public CarDriver(Map _baseMap, List<PositionAndOrientation> _track)
{
if (_track.Count < 2)
throw new ArgumentException();
if (_baseMap.car == null)
throw new ArgumentException();
baseMap = _baseMap;
track = new LinkedList<PositionAndOrientation>(_track);
distanceRegulator = new PIDRegulator(distanceRegulatorSettings, "Car Driver distance regulator");
distanceRegulator.targetValue = 0.0d;
angleRegulator = new PIDRegulator(angleRegulatorSettings, "Car Driver ANGLE regulator");
angleRegulator.targetValue = 0.0d;
currentPosition = track.First;
}