public MovementController(Relays relayBoard, Compass compassBoard, Program passedModel)
{
model = passedModel;
relays = relayBoard;
compass = compassBoard;
compass.MeasurementComplete +=new Compass.MeasurementCompleteEventHandler(compassContinuousComplete);
}
void compass_MeasurementComplete(GTM.Seeed.Compass sender, GTM.Seeed.Compass.SensorData compassSensorData)
{
/*
* compassX = compassSensorData.X;
* compassY = compassSensorData.Y;
* compassZ = compassSensorData.Z;
*
* if (compassX > compassXmax)
* compassXmax = compassX;
* if (compassX < compassXmin)
* compassXmin = compassX;
* if (compassY > compassYmax)
* compassYmax = compassY;
* if (compassY < compassYmin)
* compassYmin = compassY;
*/
heading = compassSensorData.Angle;
}
void compassContinuousComplete(Compass sender, Compass.SensorData sensorData)
{
int value = (int)localise(sensorData.X);
if (Math.Abs(value - objective) < 3){
stop();
compass.StopContinuousMeasurements();
model.movementFinished();
}
}
void compassDiscreteComplete(Compass sender, Compass.SensorData sensorData)
{
offset = 45 - sensorData.X;
}
/// <summary>
/// Raises the <see cref="MeasurementComplete"/> event.
/// </summary>
/// <param name="sender">The object that raised the event.</param>
/// <param name="sensorData">The <see cref="SensorData"/> object that contains the results of the measurement.</param>
protected virtual void OnMeasurementCompleteEvent(Compass sender, SensorData sensorData)
{
if (_OnMeasurementComplete == null)
_OnMeasurementComplete = new MeasurementCompleteEventHandler(OnMeasurementCompleteEvent);
if (Program.CheckAndInvoke(MeasurementComplete, _OnMeasurementComplete, sender, sensorData))
{
MeasurementComplete(sender, sensorData);
}
}
void compass_MeasurementComplete(Compass sender, Compass.SensorData sensorData)
{
compassAngleMeas = sensorData.Angle;
}
