//private IMotorController? _motorController;
//private IImuSensor? _imuSensor;
public Stabilizer(
ILoopWorkerFactory workerFactory,
IPidRegulatorFactory regulatorFactory,
ISettings setting,
IMovementTarget target,
IHostApplicationLifetime lifetime,
ILogger <Stabilizer>?logger)
{
if (workerFactory is null)
{
throw new ArgumentNullException(nameof(workerFactory));
}
if (regulatorFactory is null)
{
throw new ArgumentNullException(nameof(regulatorFactory));
}
if (setting is null)
{
throw new ArgumentNullException(nameof(setting));
}
_target = target ?? throw new ArgumentNullException(nameof(target));
_lifetime = lifetime ?? throw new ArgumentNullException(nameof(lifetime));
_logger = logger;
//hardwareManager.ConnectAsync().ContinueWith(result =>
//{
// if (result.Result)
// {
// _motorController = hardwareManager.GetHardware<IMotorController>()
// ?? throw new ArgumentException($"Can't resolve object of type{nameof(IMotorController)}");
// _imuSensor = hardwareManager.GetHardware<IImuSensor>()
// ?? throw new ArgumentException($"Can't resolve object of type{nameof(IImuSensor)}");
// }
//}, TaskScheduler.Default);
_worker = workerFactory.Create("StabilizerLoop", Callback);
var opt = setting.GetBinding <PidRegulatorSetting>("yAxisRegulator");
opt.DGain = 4;
_xAxisRegulator = regulatorFactory.Create("xAxisRegulator");
_yAxisRegulator = regulatorFactory.Create("yAxisRegulator");
}
public bool AddBehaviour(MovementType type, IMovementTarget target)
{
var movementData = new MovementData(agent, target);
// Decorate existing movement behaviours.
switch (type)
{
case MovementType.Seek:
this.behaviour = new SeekMovementBehaviour(this.behaviour, movementData);
break;
case MovementType.Flee:
this.behaviour = new FleeMovementBehaviour(this.behaviour, movementData);
break;
case MovementType.Pursue:
this.behaviour = new PursueMovementBehaviour(this.behaviour, movementData);
break;
case MovementType.Evade:
this.behaviour = new EvadeMovementBehaviour(this.behaviour, movementData);
break;
case MovementType.Wander:
this.behaviour = new WanderMovementBehaviour(this.behaviour, movementData);
break;
case MovementType.Avoid:
this.behaviour = new AvoidMovementBehaviour(this.behaviour, movementData);
break;
default:
break;
}
return(this.behaviour != null);
}
void Awake()
{
_targetRb = GetComponent <Rigidbody>();
_targetRb.velocity = new Vector3(0, 0, 0);
_movementTarget = GetComponent <IMovementTarget>();
}