private void onSkeletonEvent(object sender, EventArgs e, double[] data)
{
processor = new DataProcessing(data);
bruteWheelRotation = processor.WheelRotation();
bruteWheelSpeed = processor.WheelSpeed();
bruteAssyRotation = processor.AssyRotation();
bruteAssySpeed = processor.AssySpeed();
assyRotSmoother.updateValue(bruteAssyRotation);
assySpeedSmoother.updateValue(bruteAssySpeed);
wheelSpeedSmoother.updateValue(bruteWheelSpeed);
wheelRotSmoother.updateValue(bruteWheelRotation);
double wheelRotValue = wheelRotSmoother.UpdateExponential();
double wheelSpeedValue = wheelSpeedSmoother.UpdateExponential();
double assySpeedValue = assySpeedSmoother.UpdateExponential();
double assyRotValue = assyRotSmoother.UpdateExponential();
switch (drivingMode)
{
case "assy":
assySpeedValue = processor.ValueToPourcentage("assySpeed", assySpeedValue);
assySpeedValue = (wheelSpeedValue * 2 - 100) / 100;
assyRotValue = processor.ValueToPourcentage("assyRotation", assyRotValue);
assyRotValue = -(wheelRotValue * 2 - 100) / 250;
robot.directionAngle += assyRotValue;
robot.speed = assySpeedValue * 10;
break;
case "wheel":
wheelSpeedValue = processor.ValueToPourcentage("wheelSpeed", wheelSpeedValue);
wheelSpeedValue = (wheelSpeedValue * 2 - 100) / 100;
wheelRotValue = processor.ValueToPourcentage("wheelRotation", wheelRotValue);
wheelRotValue = -(wheelRotValue * 2 - 100) / 250;
robot.directionAngle += wheelRotValue;
robot.speed = wheelSpeedValue * 20;
break;
}
// Console.WriteLine(wheelSpeedValue);
robot.update();
MainCanvas.Children.Clear();
robot.draw(MainCanvas);
if (robot.x > this.Width)
{
robot.x = 0;
}
else if (robot.x < 0)
{
robot.x = this.Width;
}
else if (robot.y < 10)
{
robot.y = this.Height;
}
else if (robot.y > this.Height)
{
robot.y = 10;
}
}
//Methods where the magic happens.
//Every action depending on Kinect's available frame and data is to be written here.
private void onSkeletonEvent(object sender, EventArgs e, double[] data)
{
processor = new DataProcessing(data);
bruteWheelRotation = processor.WheelRotation();
bruteWheelSpeed = processor.WheelSpeed();
bruteAssyRotation = processor.AssyRotation();
bruteAssySpeed = processor.AssySpeed();
assyRotSmoother.updateValue(bruteAssyRotation);
assySpeedSmoother.updateValue(bruteAssySpeed);
wheelSpeedSmoother.updateValue(bruteWheelSpeed);
wheelRotSmoother.updateValue(bruteWheelRotation);
double wheelRotValue = wheelRotSmoother.UpdateExponential();
double wheelSpeedValue = wheelSpeedSmoother.UpdateExponential();
double assySpeedValue = assySpeedSmoother.UpdateExponential();
double assyRotValue = assyRotSmoother.UpdateExponential();
if(drivingDebugCheckBox.IsChecked.Value)
{
lblConsole.Text += "Wheel Speed Value : " + Math.Round(wheelSpeedValue) + "\n";
lblConsole.Text += "Wheel Rotation Value : " + Math.Round(wheelRotValue) + "\n";
lblConsole.Text += "Assymetric Speed Value : " + Math.Round(assySpeedValue) + "\n";
lblConsole.Text += "Assymetric Rotation Value : " + Math.Round(assyRotValue) + "\n";
}
switch(drivingMode)
{
case "assy":
speed = processor.ValueToPourcentage("assySpeed", assySpeedValue);
rotation = processor.ValueToPourcentage("assyRotation", assyRotValue);
updateCompassWidget(assyRotValue);
updatePowerBar(speed, assySpeedValue);
break;
case "wheel":
speed = processor.ValueToPourcentage("wheelSpeed", wheelSpeedValue);
rotation = processor.ValueToPourcentage("wheelRotation", wheelRotValue);
updateCompassWidget(wheelRotValue);
updatePowerBar(speed, wheelSpeedValue);
break;
}
scroolConsole.ScrollToEnd();
lblConsole.Text = lblConsole.Text.ToString().Substring((int)lblConsole.Text.Length / 6);
//La méthode ValueToPourcentage retourn un Int16 et prend en paramères une string et un double.
//Exemples d'utilisation de la méthode de transformation des valeurs pour le format de la trame.
}
