Issue of battery sensor in the "DischargeModelTimeMotion" model

[Ryan]

Hey, I tried to add the footbot in the loopfunction file. And I tried to set the battery sensor in the model of "DischargeModelTimeMotion". But it seems that the value of TimeLeft has no change. How can I fix it?

In the loop function file:

Code: Select all

void CLoopFunctions::Init(TConfigurationNode& t_node) {
   /*
    * Create the foot-bot and get a reference to its battery
    */
   m_pcFootBot = new CFootBotEntity(
      "fb",    // entity id
      "fdc"    // controller id as set in the XML
      );
   AddEntity(*m_pcFootBot);

   m_pcBattery = &dynamic_cast<CBatteryEquippedEntity&>(m_pcFootBot->GetBatterySensorEquippedEntity());
   // m_pcDischargeModelMotion = new CBatteryDischargeModelMotion();
   // m_pcDischargeModelTime = new CBatteryDischargeModelTime();
   m_pcDischargeModelTimeMotion = new CBatteryDischargeModelTimeMotion();
   m_pcDischargeModelTimeMotion->SetBattery(m_pcBattery);
   m_pcDischargeModelTimeMotion->SetDelta(0.01);
   m_pcDischargeModelTimeMotion->SetPosFactor(0.3);
   m_pcDischargeModelTimeMotion->SetOrientFactor(0.2);
   
   m_pcDischargeModelTimeMotion->operator()();
   
   m_pcBattery->SetAvailableCharge(0.01);
}

In the controller file:

Code: Select all

void Init(TConfigurationNode& t_node){
   m_pcBattery   = GetSensor  <CBatteryDefaultSensor               >("battery");
   m_pcBattery->Update();
}

void ControlStep()
{
   const CCI_BatterySensor::SReading & tBatteryReads = m_pcBattery->GetReading();

   Real timeleft = tBatteryReads.AvailableCharge;

   std::cout<<"	TimeLeft:" << timeleft <<"\n";
}