public OperationalSpeedCommand GetSpeedCommand() { OperationalVehicleState vs = Services.StateProvider.GetVehicleState(); OperationalSpeedCommand cmd = new OperationalSpeedCommand(); cmd.brakePressure = TahoeParams.brake_hold; cmd.engineTorque = 0; if (result != CompletionResult.Failed) { if (phase == Phase.Braking) { // chek if we can transition to shifting if (Math.Abs(vs.speed) < 0.05 && vs.brakePressure >= TahoeParams.brake_hold - 1) { phase = Phase.Shifting; } } if (phase == Phase.Shifting) { cmd.transGear = gear; if (vs.transGear == gear) { result = CompletionResult.Completed; } } } return(cmd); }
public OperationalSpeedCommand GetSpeedCommand() { OperationalVehicleState vs = Services.StateProvider.GetVehicleState(); OperationalSpeedCommand cmd = new OperationalSpeedCommand(); cmd.brakePressure = TahoeParams.brake_hold; cmd.engineTorque = 0; if (result != CompletionResult.Failed) { if (phase == Phase.Braking) { // chek if we can transition to shifting if (Math.Abs(vs.speed) < 0.05 && vs.brakePressure >= TahoeParams.brake_hold-1) { phase = Phase.Shifting; } } if (phase == Phase.Shifting) { cmd.transGear = gear; if (vs.transGear == gear) { result = CompletionResult.Completed; } } } return cmd; }