/// <summary>
/// Transforms the input values from controller to left and right speed
/// values for the motors
/// </summary>
/// <param name="controller"></param>
/// <returns>A Tuple(int, int) with left and right speed values</int></returns>
private Tuple <int, int> CalculateSpeedValues(IRemoteController controller)
{
controller.Update();
float rightTrigger = controller.RightTrigger;
float leftTrigger = controller.LeftTrigger;
double rightThumbX = controller.RightThumb.X;
int leftspeed = 0;
int rightspeed = 0;
// calculate speed based on left and right triggers (right trigger forward, left trigger backward)
int tempSpeed = (int)((rightTrigger - leftTrigger));// / 255 * 100);
if (rightThumbX > 0)
{
double multiplier = rightThumbX / 100;
leftspeed = (int)(tempSpeed + multiplier * 255);
rightspeed = (int)(tempSpeed - multiplier * 255);
}
else if (rightThumbX < 0)
{
double multiplier = rightThumbX / -100;
leftspeed = (int)(tempSpeed - multiplier * 255);
rightspeed = (int)(tempSpeed + multiplier * 255);
}
else
{
rightspeed = leftspeed = tempSpeed;
}
return(Tuple.Create(leftspeed, rightspeed));
}