/// <summary>
/// Triggers every time we've got a new target lock, updates the aiming of the rocket launcher to match
/// </summary>
private void TrackAndFireThread()
{
_frameLock.WaitOne();
currentCenter[0] = _currentFrame.Size.Width / 2;
currentCenter[1] = _currentFrame.Size.Height / 2;
_frameLock.Release();
while (_ParticleFilterRunning)
{
bool centered = _Centered.WaitOne(1000);
if (centered)
{
int[] center = pf.findCenter();
int xoffset = currentCenter[0] - center[0];
int yoffset = currentCenter[1] - center[1];
currentCenter[0] = center[0];
currentCenter[1] = center[1];
if (xoffset > 1)
{
_Commander.Left(xoffset * _pixelsToMilliseconds);
Pause.WaitOne(xoffset * 4); //movements get lost if they're sent too closely together
}
if (xoffset < 1)
{
xoffset = Math.Abs(xoffset);
_Commander.Right(xoffset * _pixelsToMilliseconds);
Pause.WaitOne(xoffset * 4); //movements get lost if they're sent too closely together
}
if (yoffset > 1)
{
_Commander.Up(yoffset * _pixelsToMilliseconds);
Pause.WaitOne(xoffset * 4); //movements get lost if they're sent too closely together
}
if (yoffset < 1)
{
yoffset = Math.Abs(yoffset);
_Commander.Down(yoffset * _pixelsToMilliseconds);
Pause.WaitOne(xoffset * 4); //movements get lost if they're sent too closely together
}
Pause.WaitOne(500); //Prevent Jerking motions
}
}
}
private void Button_Click(object sender, EventArgs e)
{
Button button = (Button)sender;
switch (Convert.ToInt32(button.Tag))
{
case 1:
for (int i = 1; i < 4; i++)
{
launcher.Down(25);
launcher.Left(25);
}
break;
case 2:
launcher.Down(25 * trackBar2.Value);
break;
case 3:
for (int i = 1; i < 4; i++)
{
launcher.Down(25);
launcher.Right(25);
}
break;
case 4:
launcher.Left(25 * trackBar2.Value);
break;
case 5:
SmoothMove(100, Direction.Left);
SmoothMove(100, Direction.Right);
break;
case 6:
launcher.Right(25 * trackBar2.Value);
break;
case 7:
for (int i = 1; i < 4; i++)
{
launcher.Up(25);
launcher.Left(25);
}
break;
case 8:
launcher.Up(25 * trackBar2.Value);
break;
case 9:
for (int i = 1; i < 4; i++)
{
launcher.Up(25);
launcher.Right(25);
}
break;
default:
break;
}
}
