/// <summary>
/// Sets the motor's tilt angle.
/// </summary>
/// <param name="angle">
/// Value between [-1.0, 1.0]
/// </param>
private void SetMotorTilt(double angle)
{
// Check if value is in valid ranges
if (angle < -1.0 || angle > 1.0)
{
throw new ArgumentOutOfRangeException("Motor tilt has to be in the range [-1.0, 1.0]");
}
// Figure out raw angle between -31 and 31
double rawAngle = Math.Round(angle * 31);
// Call native func.
int result = KinectNative.freenect_set_tilt_degs(this.parentDevice.devicePointer, rawAngle);
if (result != 0)
{
throw new Exception("Coult not set raw motor tilt angle to " + angle + ". Error Code: " + result);
}
// Save commanded tilt
this.commandedTilt = angle;
}
