public void teleopTarget(String request)
{
JObject msg = JObject.Parse(request);
switch (msg["command"].ToString().Replace("\"", ""))
{
case "forward":
parent.moveForward(conf.getPublicationList());
break;
case "backward":
parent.moveBackward(conf.getPublicationList());
break;
case "left":
parent.moveLeft(conf.getPublicationList());
break;
case "right":
parent.moveRight(conf.getPublicationList());
break;
case "inc_velocity":
parent.increaseVelocity();
break;
case "dec_velocity":
parent.decreaseVelocity();
break;
case "stop":
parent.stopTarget(conf.getPublicationList());
break;
case "inc_ang":
parent.increaseAngVelocity();
break;
case "dec_ang":
parent.decreaseAngVelocity();
break;
}
}
private void Window_KeyDown_1(object sender, KeyEventArgs e)
{
double vel;
switch (e.Key)
{
case Key.W:
lblTargetState.Content = "Target is moving forward";
moveForward();
break;
case Key.A:
lblTargetState.Content = "Target is moving left";
moveLeft();
break;
case Key.D:
lblTargetState.Content = "Target is moving right";
moveRight();
break;
case Key.S:
lblTargetState.Content = "Target is moving backwards";
moveBackward();
break;
case Key.X:
lblTargetState.Content = "Target is stopped";
moveStopped();
break;
case Key.Add:
Double.TryParse(txtLgth.Text, out vel);
bridgeLogic.increaseVelocity();
updateVelocityState();
txtLgth.Text = bridgeLogic.current_velocity.ToString();
//txtLgth.Text = (vel + 0.1).ToString();
break;
case Key.Subtract:
Double.TryParse(txtLgth.Text, out vel);
bridgeLogic.decreaseVelocity();
updateVelocityState();
txtLgth.Text = bridgeLogic.current_velocity.ToString();
//txtLgth.Text = (vel - 0.1).ToString();
break;
case Key.K:
Double.TryParse(txtTheta.Text, out vel);
//txtTheta.Text = (vel + 15).ToString();
bridgeLogic.increaseAngVelocity();
txtTheta.Text = radToDeg(bridgeLogic.current_angVelocity).ToString();
break;
case Key.L:
Double.TryParse(txtTheta.Text, out vel);
//txtTheta.Text = (vel - 15).ToString();
bridgeLogic.decreaseAngVelocity();
txtTheta.Text = radToDeg(bridgeLogic.current_angVelocity).ToString();
break;
}
}