private void runDecisionThread(Point puckPosition)
{
ThreadPool.RunAsync((s) =>
{
Point malletOffset;
if (gameMode == GameMode.Mirror || mirrorMode)
{
// Mirror the puck
double yOffset = MotorHelper.GetOffsetYFromCoordinateX(virtualWidth - puckPosition.X);
double xOffset = MotorHelper.GetOffsetXFromCoordinateY(puckPosition.Y);
if (Math.Abs(xOffset - robot.StepperX.CurrentPosition) < 50)
{
xOffset = robot.StepperX.CurrentPosition;
}
if (Math.Abs(yOffset - robot.StepperY.CurrentPosition) < 50)
{
yOffset = robot.StepperY.CurrentPosition;
}
malletOffset = new Point(xOffset, yOffset); //MotorHelper.GetOffsetFromCoordinates(puckPosition);
}
else
{
// Figure out where the mallet should move
malletOffset = robot.AI.calculateMalletTarget(puckPosition, Global.Stopwatch.ElapsedMilliseconds);
}
if (malletOffset != CoordinateHelper.INVALID_POINT)
{
// Set the destination for stepper motors
if (!robot.AI.DoNotInterrupt)
{
switch (robot.AI.Move)
{
case MoveType.Fast:
robot.MoveFastToOffset(malletOffset);
break;
case MoveType.Straight:
robot.MoveStraightToOffset(malletOffset);
break;
}
}
}
});
}
