private void HDG()
{
if (Event.current.Equals(Event.KeyboardEvent("return")) && GUI.GetNameOfFocusedControl().StartsWith("RC"))
{
mFlightComputer.Enqueue(DriveCommand.DistanceHeading(Dist, Heading, mSteerClamp, Speed));
}
GUILayout.BeginHorizontal();
{
GUILayout.Label(new GUIContent("Wheel: ", "How sharp to turn at max"));
GUILayout.FlexibleSpace();
GUILayout.Label(new GUIContent(mSteerClamp.ToString("P"), "How sharp to turn at max"));
GUILayout.Label(new GUIContent("max", "How sharp to turn at max"), GUILayout.Width(40));
}
GUILayout.EndHorizontal();
RTUtil.HorizontalSlider(ref mSteerClamp, 0, 1);
GUILayout.BeginHorizontal();
{
GUILayout.Label(new GUIContent("Hdg.", "Heading to keep"), GUILayout.Width(50));
GUI.SetNextControlName("RC1");
RTUtil.TextField(ref Mheading, GUILayout.Width(50), GUILayout.ExpandWidth(false));
GUILayout.Label("(°)", GUI.skin.textField, GUILayout.Width(40));
}
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
{
GUILayout.Label(new GUIContent("Dist.", "Distance to drive"), GUILayout.Width(50));
GUI.SetNextControlName("RC2");
RTUtil.TextField(ref mDist, GUILayout.Width(50), GUILayout.ExpandWidth(false));
GUILayout.Label("(m)", GUI.skin.textField, GUILayout.Width(40));
}
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
{
GUILayout.Label(new GUIContent("Speed", "Speed to keep"), GUILayout.Width(50));
GUI.SetNextControlName("RC3");
RTUtil.TextField(ref mSpeed, GUILayout.Width(50), GUILayout.ExpandWidth(false));
GUILayout.Label(new GUIContent("(m/s)", "Speed to keep"), GUI.skin.textField, GUILayout.Width(40));
}
GUILayout.EndHorizontal();
Mheading = RTUtil.ConstrictNum(Mheading, 360);
mDist = RTUtil.ConstrictNum(mDist, false);
mSpeed = RTUtil.ConstrictNum(mSpeed, false);
}
private void OnExecClick(int modeIndex)
{
//FINE
if (modeIndex == (int)RoverModes.FineMode && Speed != 0)
{
if (mSteering != 0 && Turn != 0)
{
EnqueueTurn();
}
else if (Dist != 0)
{
EnqueueDist();
}
else
{
if (!distDefault && mSteering != 0 && Turn != 0)
{
EnqueueTurn();
}
else if (distDefault && Dist != 0)
{
EnqueueDist();
}
}
}
//HDG
else if (modeIndex == (int)RoverModes.HeadingMode)
{
mFlightComputer.Enqueue(DriveCommand.DistanceHeading(Dist, Heading, mSteerClamp, Speed));
}
//TGT
else if (modeIndex == (int)RoverModes.TargetMode)
{
mFlightComputer.Enqueue(DriveCommand.Coord(mSteerClamp, Latitude, Longitude, Speed));
}
}