private bool LocateVisionTargets(ref Controller logitechController, ref SerialCommsHandler NUC_SerialConnection)
{
float speed = 1.0f;
if (NUC_SerialConnection.HasVisionConnection())
{
if (!potentialMatch)
{
potentialMatch = true;
potentialMatchTime = stopwatch.DurationMs;
}
else if ((stopwatch.DurationMs - potentialMatchTime) > POTENTIAL_MATCH_TIMEOUT)
{
return(true);
}
if (NUC_SerialConnection.GetAbsolutePosition().yaw > 0)
{
speed = 0; //Change to less than (yaw < 0) if LEFT_Y set to negative speed
}
}
else
{
potentialMatch = false;
}
logitechController.AXES.LEFT_Y = speed;
logitechController.AXES.RIGHT_Y = -speed;
return(false);
}