/// <summary>
///
/// </summary>
/// <param name="target">has to be in range[0, 100][%]</param>
public void SetTarget(double target)
{
if (Limiter.LimitAndReturnTrueIfLimitted(ref target, 0, 100))
{
Logger.Log(this, "target brake is not in range [0, 100]", 1);
}
double calculatedSteering;
if (alertBrakeActive)
{
calculatedSteering = regulator.SetTargetValue(ALERT_BRAKE_BRAKE_SETTING);
}
else if (targetBrakeOverriden)
{
calculatedSteering = regulator.SetTargetValue(targetBrakeOverridenValue);
}
else
{
calculatedSteering = regulator.SetTargetValue(target);
}
//this will also invoke evNewBrakeSettingCalculated event
BrakeSteering = calculatedSteering;
}
private double ConvertReceivedBrakeAngleToRealBrakePosition(int value)
{
double val = Convert.ToDouble(value);
if (Limiter.LimitAndReturnTrueIfLimitted(ref val, BRAKE_OUTPUT_MAX_PULLED, BRAKE_OUTPUT_MAX_PUSHED))
{
Logger.Log(this, "brake received value is out of range", 1);
}
return(ReScaller.ReScale(ref val, BRAKE_OUTPUT_MAX_PULLED, BRAKE_OUTPUT_MAX_PUSHED, BRAKE_POWER_WHEN_MAX_PULLED, BRAKE_POWER_WHEN_MAX_PUSHED));
}
private double ConvertReceivedSteeringWheelAngleToRealWheelAngle(int value)
{
double val = Convert.ToDouble(value);
if (Limiter.LimitAndReturnTrueIfLimitted(ref val, WHEEL_ANGLE_ON_MAX_LEFT, WHEEL_ANGLE_ON_MAX_RIGHT))
{
Logger.Log(this, String.Format(
"Steering wheel received value - {0} - is out of range [{1},{2}]",
val,
WHEEL_OUTPUT_WHEN_MAX_LEFT,
WHEEL_OUTPUT_WHEN_MAX_RIGHT),
1);
}
return(ReScaller.ReScale(ref val, WHEEL_OUTPUT_WHEN_MAX_LEFT, WHEEL_OUTPUT_WHEN_MAX_RIGHT, WHEEL_ANGLE_ON_MAX_LEFT, WHEEL_ANGLE_ON_MAX_RIGHT));
}
