private void MovementManager_OnMovement2(MovementManager.MovementDirectionEnum direction, byte speedLeft, byte speedRight)
{
// Intercept and forward movement commands
if (direction == MovementManager.MovementDirectionEnum.Stop)
{
EZBManager.PrimaryEZB.SendCommandData(0, 0x00, _MOVEMENT_STOP);
}
else if (direction == MovementManager.MovementDirectionEnum.Forward)
{
EZBManager.EZBs[0].SendCommandData(0, 0x00, _MOVEMENT_FORWARD, speedLeft, speedRight);
}
else if (direction == MovementManager.MovementDirectionEnum.Left)
{
EZBManager.EZBs[0].SendCommandData(0, 0x00, _MOVEMENT_LEFT, speedLeft, speedRight);
}
else if (direction == MovementManager.MovementDirectionEnum.Right)
{
EZBManager.EZBs[0].SendCommandData(0, 0x00, _MOVEMENT_RIGHT, speedLeft, speedRight);
}
else if (direction == MovementManager.MovementDirectionEnum.Reverse)
{
EZBManager.EZBs[0].SendCommandData(0, 0x00, _MOVEMENT_REVERSE, speedLeft, speedRight);
}
}
private void Movement_OnMovement2(MovementManager.MovementDirectionEnum direction, byte speedLeft, byte speedRight)
{
if (_robotController == null || IsClosing)
{
return;
}
var speedLeftScaled = (short)Functions.RemapScalar(speedLeft, 0, 255, 0, 500);
var speedRightScaled = (short)Functions.RemapScalar(speedRight, 0, 255, 0, 500);
if (direction == MovementManager.MovementDirectionEnum.Stop)
{
_robotController.DriveDirect(0, 0);
Invokers.SetBackColor(btnForward, btnForward.Parent.BackColor);
Invokers.SetBackColor(btnRight, btnForward.Parent.BackColor);
Invokers.SetBackColor(btnLeft, btnForward.Parent.BackColor);
Invokers.SetBackColor(btnReverse, btnForward.Parent.BackColor);
Invokers.SetBackColor(btnStop, Common.ChangeColorBrightness(btnForward.Parent.BackColor, -0.3f));
}
else if (direction == MovementManager.MovementDirectionEnum.Forward)
{
_robotController.DriveDirect(speedLeftScaled, speedRightScaled);
Invokers.SetBackColor(btnForward, Common.ChangeColorBrightness(btnForward.Parent.BackColor, -0.3f));
Invokers.SetBackColor(btnRight, btnForward.Parent.BackColor);
Invokers.SetBackColor(btnLeft, btnForward.Parent.BackColor);
Invokers.SetBackColor(btnReverse, btnForward.Parent.BackColor);
Invokers.SetBackColor(btnStop, btnForward.Parent.BackColor);
}
else if (direction == MovementManager.MovementDirectionEnum.Right)
{
_robotController.DriveDirect(speedLeftScaled, -speedRightScaled);
Invokers.SetBackColor(btnForward, btnForward.Parent.BackColor);
Invokers.SetBackColor(btnRight, Common.ChangeColorBrightness(btnForward.Parent.BackColor, -0.3f));
Invokers.SetBackColor(btnLeft, btnForward.Parent.BackColor);
Invokers.SetBackColor(btnReverse, btnForward.Parent.BackColor);
Invokers.SetBackColor(btnStop, btnForward.Parent.BackColor);
}
else if (direction == MovementManager.MovementDirectionEnum.Reverse)
{
_robotController.DriveDirect(-speedLeftScaled, -speedRightScaled);
Invokers.SetBackColor(btnForward, btnForward.Parent.BackColor);
Invokers.SetBackColor(btnRight, btnForward.Parent.BackColor);
Invokers.SetBackColor(btnLeft, btnForward.Parent.BackColor);
Invokers.SetBackColor(btnReverse, Common.ChangeColorBrightness(btnForward.Parent.BackColor, -0.3f));
Invokers.SetBackColor(btnStop, btnForward.Parent.BackColor);
}
else if (direction == MovementManager.MovementDirectionEnum.Left)
{
_robotController.DriveDirect(-speedLeftScaled, speedRightScaled);
Invokers.SetBackColor(btnForward, btnForward.Parent.BackColor);
Invokers.SetBackColor(btnRight, btnForward.Parent.BackColor);
Invokers.SetBackColor(btnLeft, Common.ChangeColorBrightness(btnForward.Parent.BackColor, -0.3f));
Invokers.SetBackColor(btnReverse, btnForward.Parent.BackColor);
Invokers.SetBackColor(btnStop, btnForward.Parent.BackColor);
}
}
