/// <summary>
/// Pohne s robotem v daném rádiusu
/// </summary>
/// <param name="x">x souřadnice joysticku od -100 do 100</param>
/// <param name="y">y souřadnice joysticku od -100 do 100</param>
private void moveRobotInRadius(int x, int y)
{
double radiusCircleDistance = x;
if (radiusCircleDistance > 5 || radiusCircleDistance < -5)
{
radiusCircleDistance = MathLibrary.changeScaleLog(radiusCircleDistance, 0, Math.Sign(radiusCircleDistance) * 100, Math.Sign(radiusCircleDistance) * 2000, Math.Sign(radiusCircleDistance) * 60);
}
else
{
radiusCircleDistance = 99999;
}
double speed = MathLibrary.getPointsDistance(0, 0, x, y);
if (y > 0)
{
speed = -speed;
}
robot.moveInRadius(radiusCircleDistance, speed);
}
/// <summary>
/// Pohne s robotem směrem a rychlostí podle dané polohy joysticku
/// </summary>
/// <param name="x">x souřadnice od -100 do 100</param>
/// <param name="y">y souřadnice od -100 do 100</param>
private void moveRobot(int x, int y)
{
int angle = (int)MathLibrary.getAngle(0, 0, 100, 0, x, y);
robot.move(angle, (int)MathLibrary.getPointsDistance(0, 0, x, y));
}
