private void ColorCanvasPointerMoved(object sender, PointerRoutedEventArgs e)
{
XYCoordinates.X = e.GetCurrentPoint(ColorMap).Position.X - ColorMap.Width / 2;
XYCoordinates.Y = e.GetCurrentPoint(ColorMap).Position.Y - ColorMap.Height / 2;
polarCoordinates = XY2RPhi(XYCoordinates.X, XYCoordinates.Y);
//textBox1.Text = Convert.ToString(XYCoordinates.X);
//textBox2.Text = Convert.ToString(XYCoordinates.Y);
//textBox3.Text = Convert.ToString(polarCoordinates.R);
//textBox4.Text = Convert.ToString(polarCoordinates.Phi);
//Debug.WriteLine("{0} ; {1}", XYCoordinates.X, XYCoordinates.Y);
//Debug.WriteLine("{0} ; {1}", polarCoordinates.R, polarCoordinates.Phi);
if (polarCoordinates.R < 20)
{
polarCoordinates.R = 0;
XYCoordinates.X = 0;
XYCoordinates.Y = 0;
}
if (polarCoordinates.R > ColorMap.Width / 2 - ColorPicker.Width / 2)
{
//e.Handled = true;
//return;
polarCoordinates.R = ColorMap.Width / 2 - ColorPicker.Width / 2;
XYCoordinates = RPhi2XY(polarCoordinates.R, polarCoordinates.Phi);
}
Canvas.SetLeft(ColorPicker, XYCoordinates.X + ColorMap.Width / 2 - ColorPicker.Width / 2);
Canvas.SetTop(ColorPicker, XYCoordinates.Y + ColorMap.Height / 2 - ColorPicker.Height / 2);
Canvas.SetLeft(HorizontalLine, XYCoordinates.X + ColorMap.Width / 2);
Canvas.SetTop(VerticalLine, XYCoordinates.Y + ColorMap.Height / 2);
//ctr++;
//Debug.WriteLine(ctr);
speedsLR = rphi2dc(polarCoordinates.R / (ColorMap.Width / 2 - ColorPicker.Width / 2), polarCoordinates.Phi);
//Debug.WriteLine("{0} ; {1}", speedsLR.L, speedsLR.R);
//Debug.WriteLine("{0} ; {1}", polarCoordinates.R / (ColorMap.Width / 2 - ColorPicker.Width / 2) * 100, polarCoordinates.Phi / 2 / Math.PI * 360);
leftSliderValue = speedsLR.L;
rightSliderValue = speedsLR.R;
length = Convert.ToByte(polarCoordinates.R / (ColorMap.Width / 2 - ColorPicker.Width / 2) * 100);
angle = Convert.ToByte(polarCoordinates.Phi / 2 / Math.PI * 180);
debounceCounter = 3;
e.Handled = true;
}
private RPhi XY2RPhi(double X, double Y)
{
RPhi tempPolarCoordinates = new RPhi(0, 0);
double tempPhi;
tempPolarCoordinates.R = Math.Sqrt(X * X + Y * Y);
tempPhi = Math.Atan2(-Y, X);
if (tempPhi >= 0)
{
tempPolarCoordinates.Phi = tempPhi;
}
else
{
tempPolarCoordinates.Phi = tempPhi + 2 * Math.PI;
}
return(tempPolarCoordinates);
}
private void CanvasPointerMoved(object sender, PointerRoutedEventArgs e)
{
double joyXCurrentPos, joyYCurrentPos;
double x_temp, y_temp;
x_temp = e.GetCurrentPoint(CamCanvas).Position.X;
y_temp = e.GetCurrentPoint(CamCanvas).Position.Y;
//Debug.WriteLine("{0} ; {1}", x_temp, y_temp);
if ((y_temp > 220) || ((y_temp < 50) && (x_temp > 230)))
{
e.Handled = true;
return;
}
if (SwipeButton.IsChecked == false)
{
//Debug.WriteLine(e.Pointer.PointerDeviceType.ToString()); xPos2 = Convert.ToInt16(e.GetCurrentPoint(CamImage).Position.X);
if ((e.Pointer.PointerDeviceType == Windows.Devices.Input.PointerDeviceType.Touch) || (pointerIsPressed == true))
{
xPos2 = Convert.ToInt16(x_temp);
yPos2 = Convert.ToInt16(y_temp);
xDelta = xPos2 - xPos1;
yDelta = yPos2 - yPos1;
xPos1 = xPos2;
yPos1 = yPos2;
S1.Value = SaturateInteger(Convert.ToInt16(S1.Value - xDelta * 3), 0, 1000);
S2.Value = SaturateInteger(Convert.ToInt16(S2.Value + yDelta * 3), 0, 1000);
}
}
else
{
if ((e.Pointer.PointerDeviceType == Windows.Devices.Input.PointerDeviceType.Touch) || (pointerIsPressed == true))
{
joyXCurrentPos = x_temp;
joyYCurrentPos = y_temp;
//S1.Value = SaturateInteger(Convert.ToInt16(S1.Value + (joyXCurrentPos - joyXStartPos) * 0.1), 0, 1000);
//S2.Value = SaturateInteger(Convert.ToInt16(S2.Value + (joyYCurrentPos - joyYStartPos) * 0.1), 0, 1000);
XYCoordinates.X = joyXCurrentPos - joyXStartPos;
XYCoordinates.Y = joyYCurrentPos - joyYStartPos;
//Debug.WriteLine(XYCoordinates.X +";"+ XYCoordinates.Y);
polarCoordinates = XY2RPhi(XYCoordinates.X, XYCoordinates.Y);
if (polarCoordinates.R < 10)
{
polarCoordinates.R = 0;
XYCoordinates.X = 0;
XYCoordinates.Y = 0;
}
if (polarCoordinates.R > SoftJoyBoundary.Width / 2 - SoftJoy.Width / 2)
{
//e.Handled = true;
//return;
polarCoordinates.R = SoftJoyBoundary.Width / 2 - SoftJoy.Width / 2;
XYCoordinates = RPhi2XY(polarCoordinates.R, polarCoordinates.Phi);
}
Canvas.SetLeft(SoftJoy, joyXStartPos + XYCoordinates.X - SoftJoy.Width / 2);
Canvas.SetTop(SoftJoy, joyYStartPos + XYCoordinates.Y - SoftJoy.Height / 2);
//Canvas.SetLeft(SoftJoy, joyXCurrentPos - SoftJoy.Width / 2);
//Canvas.SetTop(SoftJoy, joyYCurrentPos - SoftJoy.Width / 2);
speedsLR = rphi2dc(polarCoordinates.R / (SoftJoyBoundary.Width / 2 - SoftJoy.Width / 2), polarCoordinates.Phi);
//Debug.WriteLine("{0} ; {1}", speedsLR.L, speedsLR.R);
LeftDrive.Value = speedsLR.L;
RightDrive.Value = speedsLR.R;
}
}
RefreshHorizont();
e.Handled = true;
}
private async void ColorCanvasPointerMoved(object sender, PointerRoutedEventArgs e)
{
XYCoordinates.X = e.GetCurrentPoint(ColorMap).Position.X - ColorMap.Width / 2;
XYCoordinates.Y = e.GetCurrentPoint(ColorMap).Position.Y - ColorMap.Height / 2;
polarCoordinates = XY2RPhi(XYCoordinates.X, XYCoordinates.Y);
//Debug.WriteLine("{0} ; {1}", polarCoordinates.R, polarCoordinates.Phi);
if (polarCoordinates.R > ColorMap.Width / 2 - ColorPicker.Width / 2)
{
e.Handled = true;
return;
}
Canvas.SetLeft(ColorPicker, XYCoordinates.X + ColorMap.Width / 2 - ColorPicker.Width / 2);
Canvas.SetTop(ColorPicker, XYCoordinates.Y + ColorMap.Height / 2 - ColorPicker.Height / 2);
if ((polarCoordinates.Phi < Rmax) || (polarCoordinates.Phi > Rmin))
{
if ((polarCoordinates.Phi >= 4.15) || (polarCoordinates.Phi <= 0.5))
{
R = 255;
}
else if (polarCoordinates.Phi <= Rmax)
{
R = 255 * (Rmax - polarCoordinates.Phi) / (Rmax - 0.5);
}
else
{
R = 255 * (polarCoordinates.Phi - Rmin) / (4.15 - Rmin);
}
}
else
{
R = 0;
}
if ((polarCoordinates.Phi <= Bmax) && (polarCoordinates.Phi >= Bmin))
{
if ((polarCoordinates.Phi >= 0.5) && (polarCoordinates.Phi <= 2.45))
{
B = 255;
}
else if (polarCoordinates.Phi < 0.5)
{
B = 255 * (Bmin - polarCoordinates.Phi) / (Bmin - 0.5);
}
else
{
B = 255 * (Bmax - polarCoordinates.Phi) / (Bmax - 2.45);
}
}
else
{
B = 0;
}
if ((polarCoordinates.Phi <= Gmax) && (polarCoordinates.Phi >= Gmin))
{
if ((polarCoordinates.Phi >= 2.45) && (polarCoordinates.Phi <= 4.15))
{
G = 255;
}
else if (polarCoordinates.Phi < 2.45)
{
G = 255 * (Gmin - polarCoordinates.Phi) / (Gmin - 2.45);
}
else
{
G = 255 * (Gmax - polarCoordinates.Phi) / (Gmax - 4.15);
}
}
else
{
G = 0;
}
if (polarCoordinates.R < radialLimit)
{
R += (255 - R) * (polarCoordinates.R - radialLimit) / (-radialLimit);
B += (255 - B) * (polarCoordinates.R - radialLimit) / (-radialLimit);
G += (255 - G) * (polarCoordinates.R - radialLimit) / (-radialLimit);
}
color.R = Convert.ToByte(R);
color.B = Convert.ToByte(B);
color.G = Convert.ToByte(G);
color.A = 255;
brush = new SolidColorBrush(color);
ColorPicker.Fill = brush;
if (writer != null)
{
if (color.R == 13)
{
color.R = 14;
}
if (color.G == 13)
{
color.G = 14;
}
if (color.B == 13)
{
color.B = 14;
}
writer.WriteByte(0x43);
writer.WriteByte(color.R);
writer.WriteByte(color.G);
writer.WriteByte(color.B);
writer.WriteByte(0x0D);
await writer.StoreAsync();
}
e.Handled = true;
}
