public override void RobotInit()
{
absoluteTach = new Tachometer(di);
quadratureTach = new Tachometer(quadDI);
quadratureTach.EdgesPerRevolution = 2048;
quadratureCounter = new UpDownCounter();
quadratureCounter.UpSource = quadDI;
quadratureCounter.UpEdgeConfiguration = EdgeConfiguration.kRisingEdge;
externalDirectionCounter = new ExternalDirectionCounter(quadDI, quadDIB);
externalDirectionCounter2x = new ExternalDirectionCounter(quadDI, quadDIB);
externalDirectionCounter2x.EdgeConfiguration = EdgeConfiguration.kBothEdges;
externalDirectionCounter2x.ReverseDirection = true;
DigitalGlitchFilter filter = new DigitalGlitchFilter();
filter.SetPeriod(TimeSpan.FromSeconds(1));
//filter.Add(di);
interrupt = new AsynchronousInterrupt(di, (r, f) =>
{
Console.WriteLine("Interrupt Occured " + count);
count++;
//Thread.Sleep(20);
});
interrupt.SetInterruptEdges(true, false);
interrupt.Enable();
}
private void DrawNeedle(float angleShift, Texture2D needleTexture)
{
float angle = 0; //angleShift + 3.6f * FlyAndMove.Position.y;
// rotation point in texture added with x and y
// needle: 16x16, texture: 128x128 > center: 64x64 + 16 = 80
Vector2 rotationPoint = new Vector2(0.5f * Screen.width + 80f, Screen.height - 80f);
Rect rect = new Rect(0.5f * Screen.width + 16f, Screen.height - 144f, 128f, 128f);
Tachometer.DrawNeedle(angle, rotationPoint, rect, needleTexture);
}
void Receiver_OnEventInit(object sender, DataEventArgs <GPBikes.SPluginsBikeEvent_t> e)
{
Dispatcher.Invoke((Action)(() =>
{
Tachometer.MajorDivisionsCount = Tachometer.MaxValue = (int)(e.Data.MaxRPM / 1000d) + 1;
Tachometer.OptimalRangeEndValue = e.Data.ShiftRPM / 1000d;
// gauge is setup up so that ShiftRPM points to sky:
// 13500RPM --> 45 degrees
Tachometer.ScaleStartAngle = 45d + (13500 - e.Data.ShiftRPM) / 30;
Tachometer.RefreshScale();
}));
}
