public void controlTank(float horizontal, float vertical)
{
JSONObject json = new JSONObject();
if (sendMode == SendMode.SERIAL)
{
int left = (int)((vertical + horizontal) * 255 * (maxSpeed / 100));
int right = (int)((vertical - horizontal) * 255 * (maxSpeed / 100));
if (left > 255)
{
left = 255;
}
if (left < -255)
{
left = -255;
}
if (right > 255)
{
right = 255;
}
if (right < -255)
{
right = -255;
}
json.AddField("L", left); json.AddField("R", right);
if (serialPort)
{
serialPort.Write(json.ToString() + "\r\n");
}
}
else
{
json.AddField("x", (int)(horizontal * maxSpeed)); json.AddField("y", (int)(vertical * maxSpeed));
if (sendMode == SendMode.BLUETOOTH)
{
if (bluetoothSender)
{
bluetoothSender.sendMessage("t" + json.ToString() + "\r\n");
}
}
else if (sendMode == SendMode.UDP)
{
if (udpSender)
{
udpSender.sendMessage("t" + json.ToString() + "\r\n");
}
}
}
}
///**************************************************///
///***************CONNECTION FUNCTIONS***************///
///**************************************************///
public void sendBluetoothMessage()
{
bluetoothSender.sendMessage(getJSON());
}