C:/Documents and Settings/student/My Documents/robo_magellan/visual_studio_(system_controller)/system_controller/NavigationController/NavigationData.cs

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using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;

namespace NavigationController {
        public class NavigationData {

                public const double AD_MULTIPLIER = 3.3 / 65472; //see coridium AD function documentation
                public const double RESISTOR_DIVIDER = 1.2 / (1.2 + 12.0); //resistor dividers on system 
                //battery and navigation battery (R1 = 1.2K, R2 = 12K)
                public const double ACCELEROMETER_NULL = 1.66;
                public const double V_PER_G = 0.333;
                public const double X_OFFSET = 0.08;
                public const double Y_OFFSET = -0.06;
                public const double Z_OFFSET = 0.01;
                public readonly double COUNTS_PER_METER = 1000.0;


                //constructor
                //and counts per meter
                public NavigationData(double countsPerMeter) {
                        
                        COUNTS_PER_METER = countsPerMeter;
                }

                string _error = "";
                public string Error {
                        get { return _error; }
                }

                string _navigationBuffer = "";
                public string NavigationBuffer {
                        get { return _navigationBuffer; }
                        set { _navigationBuffer = value; }
                }

                //general purpose accelerometer raw value to real value conversion
                public double getRealAcc(double acc, double offset) {
                        return ((AD_MULTIPLIER * acc - ACCELEROMETER_NULL) / V_PER_G) + offset;
                }

                int _xAcc = 0;
                public int XAcc {
                        get { return _xAcc; }
                        set { _xAcc = value; }
                }

                int _yAcc = 0;
                public int YAcc {
                        get { return _yAcc; }
                        set { _yAcc = value; }
                }

                int _zAcc = 0;
                public int ZAcc {
                        get { return _zAcc; }
                        set { _zAcc = value; }
                }

                //gets the instantainous x-axis acceleration
                public double XAccGs {
                        get { return getRealAcc(_xAcc, X_OFFSET); }
                }

                public double YAccGs {
                        get { return getRealAcc(_yAcc, Y_OFFSET); }
                }

                public double ZAccGs {
                        get { return getRealAcc(_zAcc, Z_OFFSET); }
                }

                //total encoder counts 
                long _encoderCounts = 0;
                public long EncoderCounts {
                        get { return _encoderCounts; }
                        set { 
                                _encoderCounts = value;
                                _meters = (double)_encoderCounts / COUNTS_PER_METER;
                        }
                }

                //(speed) instantainous counts
                short _deltaEncoderCounts = 0;
                public short DeltaEncoderCounts {
                        get { return _deltaEncoderCounts; }
                        set { _deltaEncoderCounts = value; }
                }

                //meters as a linear function of counts and some factor
                double _meters = 0;
                public double Meters {
                        get { return _meters; }
                        set { _meters = value; }
                }


                #region STEERING_AND_THROTTLE_PULSEOUT_VALUES:

                const int STEERING_ZERO = 1406, THROTTLE_ZERO = 1501;

                int _steeringPulseDuration = 0;
                public int SteeringPulseDuration {
                        get { return _steeringPulseDuration; }
                        set {
                                _steeringPulseDuration = value;
                                _steering = convertPulseToByte(value - STEERING_ZERO);
                        }
                }

                int _throttlePulseDuration = 0;
                public int ThrottlePulseDuration {
                        get { return _throttlePulseDuration; }
                        set {
                                _throttlePulseDuration = value;
                                _throttle = convertPulseToByte(value - THROTTLE_ZERO);
                        }
                }

                int convertPulseToByte(int pulse_width) {
                        return (int)Math.Ceiling((double)pulse_width / 3.19);
                }

                //some function of the pulse duration
                int _throttle = 0; 
                public int Throttle {
                        get { return _throttle; }
                }

                int _steering = 0;
                public int Steering {
                        get { return _steering; }
                }

                #endregion

                #region STEERING_AND_THROTTLE_SETPOINTS:

                int _steeringSetpoint = 0;
                public int SteeringSetpoint {
                        get { return _steeringSetpoint; }
                        set { _steeringSetpoint = value; }
                }

                int _throttleSetpoint = 0;
                public int ThrottleSetpoint {
                        get { return _throttleSetpoint; }
                        set { _throttleSetpoint = value; }
                }

                #endregion

                //this may be confusing, but this is only set upon
                //reciept of serial dat from the navigation controller
                int _runMode = 0;
                public int RunMode {
                        get { return _runMode; }
                        set { _runMode = value; }
                }

                bool _deadMan = true;
                public bool DeadMan {
                        get { return _deadMan; }
                        set { _deadMan = value; }
                }

                string _status = "not initialized";
                public void setStatus(string status) {
                        _status = status;
                }
                public string Status {
                        get { return _status; }
                }
        }
}

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