void armIn_targetWristChanged(wristPositionData newPosition)
{
if (newPosition.upVal > 0)
{
upInd.setIndicatorState(toggleIndicator.indicatorState.Green);
}
else
{
upInd.setIndicatorState(toggleIndicator.indicatorState.Off);
}
if (newPosition.leftVal > 0)
{
leftInd.setIndicatorState(toggleIndicator.indicatorState.Green);
}
else
{
leftInd.setIndicatorState(toggleIndicator.indicatorState.Off);
}
if (newPosition.rightVal > 0)
{
rightInd.setIndicatorState(toggleIndicator.indicatorState.Green);
}
else
{
rightInd.setIndicatorState(toggleIndicator.indicatorState.Off);
}
}
void armInput_targetWristChanged(wristPositionData newPosition)
{
if (!newPosition.Equals(oldWrist) && wristTimerExpired)
{
oldWrist = newPosition;
wristTimerExpired = false;
handArduino.write("U:" + newPosition.upVal);
handArduino.write("L:" + newPosition.leftVal);
handArduino.write("R:" + newPosition.rightVal);
}
}
private void wristUpdate()
{
while (true)
{
lock (wristSync)
{
if(newWristPositions){
wristPositionData currentData = new wristPositionData((int)upMag, (int)leftMag, (int)rightMag);
if (targetWristChanged != null)
{
targetWristChanged(currentData);
}
}
}
Thread.Sleep(100);
}
}
void armInput_targetWristChanged(wristPositionData newPosition)
{
lock (WR_LOCK)
{
if (!wristPos.Equals(newPosition))
{
newWrist = true;
wristPos = newPosition;
}
}
}
/// <summary>
/// Overridden version of the equals method. Determines if the values within the wristPosition are the same.
/// </summary>
/// <param name="obj"></param>
/// <returns></returns>
public bool Equals(wristPositionData obj)
{
try
{
if (obj.GetType() != base.GetType())
{
return false;
}
wristPositionData tempOther = (wristPositionData)obj;
if (tempOther.leftVal == leftVal && tempOther.rightVal == rightVal && tempOther.upVal == upVal)
{
return true;
}
return false;
}
catch
{
return false;
}
}
