45 lines
1.4 KiB
C#
45 lines
1.4 KiB
C#
namespace RobotNet10.NavigationTune.Execution;
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/// <summary>
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/// Adapter to wrap IVelocityController from RobotApp
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/// This will be implemented in the application layer that has access to RobotApp
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/// </summary>
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public class VelocityControllerAdapter(
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Func<(double Linear, double Angular)> getActualVelocity,
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Action<double, double> setVelocity,
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Func<double> getModelConfidence,
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Action<double>? setAcceleration = null,
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Action<double>? setDeceleration = null) : IVelocityProvider
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{
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private readonly Func<(double Linear, double Angular)> _getActualVelocity = getActualVelocity;
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private readonly Action<double, double> _setVelocity = setVelocity;
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private readonly Func<double> _getModelConfidence = getModelConfidence;
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private readonly Action<double>? _setAcceleration = setAcceleration;
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private readonly Action<double>? _setDeceleration = setDeceleration;
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public (double Linear, double Angular) GetActualVelocity()
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{
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return _getActualVelocity();
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}
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public void SetVelocity(double linearVel, double angularVel)
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{
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_setVelocity(linearVel, angularVel);
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}
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public double GetModelConfidence()
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{
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return _getModelConfidence();
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}
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public void SetAcceleration(double acc)
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{
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_setAcceleration?.Invoke(acc);
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}
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public void SetDeceleration(double dec)
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{
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_setDeceleration?.Invoke(dec);
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}
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}
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