// Draw the UI
private void runUIThread()
{
ThreadPool.RunAsync(async(s) =>
{
while (!stopThread)
{
var puckPosition = robot.AI.GetPuckPosition();
clearLines();
//drawDot(puckPosition);
if (puckPosition != CoordinateHelper.INVALID_POINT)
{
drawPuck(puckPosition);
}
drawMallet(robot.GetOffsets());
drawCenterOfMass(robot.AI.GetPuckCenterOfMass());
// Draw line from mallet to destination
drawLine(MotorHelper.GetCoordinatesFromOffset(robot.GetOffsets()),
MotorHelper.GetCoordinatesFromOffset(new Point(robot.StepperX.TargetPosition, robot.StepperY.TargetPosition)));
var bouncePts = robot.AI.GetPreviousBouncePoints();
if (bouncePts != null && bouncePts.Count > 0)
{
// Draw lines for bounces
drawBounces(puckPosition, bouncePts);
}
else if (robot.AI.GetPreviousTrajectory() != CoordinateHelper.INVALID_POINT)
{
// Draw line for trajectory
drawTrajectory(puckPosition, robot.AI.GetPreviousTrajectory());
}
setOutputText("Speed: " + robot.AI.GetPuckSpeed());
await Task.Delay(1);
}
});
}
