void Start()
{
ABS_Manager absManager = car.gameObject.GetComponentInChildren <ABS_Manager>();
pid_runner = new PID_Runner(absManager.kp, absManager.ki, absManager.kd,
1, -1,
-wheel.brake.maxBrakeForce * absManager.minBrakeLimitPercent
, -wheel.brake.maxBrakeForce,
getCurrentSlip, getDesiredSlip, setBrake
, absManager.fixedTime
);
carControl.brakingListner += checkBrake;
carControl.forwardListner += reset;
carControl.backwardListner += reset;
//carControl.neutralListner += reset;
carControl.stoppedListner += reset;
}
void Start()
{
tcsManager = car.gameObject.GetComponentInChildren <TCS_Manager>();
pid_runner = new PID_Runner(tcsManager.kp, tcsManager.ki, tcsManager.kd,
1, -1f,
tcsManager.maxBrakeLimitPercent * wheel.brake.maxBrakeForce,
-tcsManager.maxBrakeLimitPercent * wheel.brake.maxBrakeForce,
getCurrentSlip, getDesiredSlip, setBrake
, tcsManager.fixedTime
);
carControl.brakingListner += reset;
carControl.forwardListner += checkWheel;
carControl.backwardListner += checkWheel;
carControl.neutralListner += reset;
carControl.stoppedListner += reset;
wheel.brake.brakeControllersRequestes.Add(TCS_BRAKE_KEY, 0);
}
void Start()
{
pid_runner = new PID_Runner(kp, ki, kd,
1, -1,
maxBrakeLimitPercent,
-maxBrakeLimitPercent,
getCurrentSlip, getDesiredSlip, setBrake
, fixedTime
);
// carControl.brakingListner += reset;
carControl.forwardListner += checkWheel;
carControl.backwardListner += checkWheel;
// carControl.neutralListner += reset;
carControl.stoppedListner += reset;
foreach (Wheel wheel in car.wheels)
{
wheel.brake.brakeControllersRequestes.Add(EPS_BRAKE_KEY, 0);
}
reset();
}
