| public static DriveStraightForTime ( this d, IMotionController correction, double power, double time, bool brake, double interval = 0.02 ) : void | ||
| d | this | |
| correction | IMotionController | |
| power | double | |
| time | double | |
| brake | bool | |
| interval | double | |
| return | void | |
public static void DriveStraightForTime(this IGyroscopeDrive d, IMotionController correction, double power, double time, bool brake, double interval = 0.02)
{
correction.SetPoint = d.Gyroscope.GetAngle();
Stopwatch s = new Stopwatch();
while (s.Elapsed.TotalSeconds < time)
{
double correctingPower = correction.Get(d.Gyroscope.GetAngle());
d.SetPowers(power + correctingPower, power - correctingPower);
AccurateWaitSeconds(interval);
}
if(brake)
d.SetPowers(0, 0);
}