public Contingency(Encoder left, Encoder right, NavigationManager navigation)
{
alarm = false;
monitor = new object();
this.left = left;
this.right = right;
this.navigation = navigation;
count = 0;
end = false;
th = new Thread(new ThreadStart(Run));
th.Start();
th2 = new Thread(new ThreadStart(Act));
th2.Start();
t = new Timer(new TimerCallback(decount), new object(), 0, 5000);
}
public void InitializeSystem()
{
debug = new OutputPort((Cpu.Pin)PortMap.debug, false);
debug.Write(true);
coder = new Coder();
Thread.Sleep(17000);
coder.Start();
Info("Initializing System...");
navigation = new NavigationManager();
Info("Initialized NavigationManager");
sensors = new SensorManager();
Info("Initialized SensorManager");
battery = new BatteryManager();
Info("Initialized BatteryManager");
currentMode = Mode.SearchingForWall;
sensorTimer = new Timer(new TimerCallback(sensorTimer_tick), new object(), 0, GlobalVal.transmissionPeriodSensor_ms);
positionTimer = new Timer(new TimerCallback(posTimer_Tick), new object(), 0, GlobalVal.transmissionPeriodPosition_ms);
batteryTimer = new Timer(new TimerCallback(batteryTimer_Tick), new object(), 0, GlobalVal.transmissionPeriodBattery_ms);
magTimer = new Timer(new TimerCallback(magnetometer_Tick), new object(), 0, GlobalVal.trasmissionPeriodMagnetometer_ms);
Info("Initialized Timers");
cancel = false;
debug.Write(false);
navigation.manualSpeed = GlobalVal.speed;
navigation.manualTurningSpeed = GlobalVal.turningSpeed;
Info("Ready");
}
