// Controls the direction the wheelchair moves
private void Drive() //this function calls a function in navigator that looks for offset
{
// Check whether the thread has previously been named
// to avoid a possible InvalidOperationException.
int offset = Navigator.GetCalibrationResult(); //initial setup
Vehicle.SetOffset(offset);
while (this.Running)
{
Vector direction = Navigator.GetDirection(this.UserInput.InputDirection);
if (Navigator.GetCalibrationResult() != offset) //if the offset has changed
{
offset = Navigator.GetCalibrationResult();
Vehicle.SetOffset(offset); //sets the offset in the wheelchair class, SetOffset does stuff
}
// The length should be in the range [0, 1]. Convert it to [0, 100] as the wheelchair expects
int speed = (int)(direction.Length * 100);
// Clamp the speed to [0, 100]
speed = Math.Min(speed, 100);
speed = Math.Max(speed, 0);
if (direction.Length != 0)
{
direction.Normalize();
}
this.Vehicle.SetSpeedAndDirection(speed, direction);
Thread.Sleep(50);
}
this.Vehicle.SetSpeedAndDirection(0, new Vector(0, 0));
}
