private JObject MessageAssembler(enum_Command command, JObject args = null)
{
double speed = this.speed;
JObject arg = new JObject
{
{ "Speed", speed },
{ "Fire", this.fireDetect },
{ "Debug", this.isDebugMode }
};
JObject jObject_Message = new JObject
{
{ "Type", "instruction" },
{ "FromIP", this.IPAddress_Local.ToString() },
{ "FromID", 0 },
{ "FromRole", "Controller" },
{ "Command", (int)command },
{ "Args", arg }
};
return(jObject_Message);
}
private void Accelerometer_Changed(object sender, AccelerometerChangedEventArgs e)
{
enum_Command cmd = enum_Command.Stop;
var data = e.Reading.Acceleration;
this.vector3_AccFiltered.X = this.accSensitivity * data.X + (1 - this.accSensitivity) * this.vector3_AccFiltered.X;
this.vector3_AccFiltered.Y = this.accSensitivity * data.Y + (1 - this.accSensitivity) * this.vector3_AccFiltered.Y;
this.vector3_AccFiltered.Z = this.accSensitivity * data.Z + (1 - this.accSensitivity) * this.vector3_AccFiltered.Z;
if (Math.Abs(this.vector3_AccFiltered.X) < 0.1f && this.vector3_AccFiltered.Y < 0.2f)
{
cmd = enum_Command.Forward;
}
else if (Math.Abs(this.vector3_AccFiltered.X) < 0.1f && this.vector3_AccFiltered.Y > 0.61f)
{
cmd = enum_Command.Backward;
}
else if (this.vector3_AccFiltered.X > 0.3f && this.vector3_AccFiltered.Y > 0.4f)
{
cmd = enum_Command.LeftRotate;
}
else if (this.vector3_AccFiltered.X < -0.3f && this.vector3_AccFiltered.Y > 0.4f)
{
cmd = enum_Command.RightRotate;
}
else if (Math.Abs(this.vector3_AccFiltered.Y) < 0.2f && this.vector3_AccFiltered.X > 0.3f)
{
cmd = enum_Command.LeftShift;
}
else if (Math.Abs(this.vector3_AccFiltered.Y) < 0.2f && this.vector3_AccFiltered.X < -0.3f)
{
cmd = enum_Command.RightShift;
}
else
{
cmd = enum_Command.Stop;
}
if (cmd != this.lastCommand)
{
switch (cmd)
{
case enum_Command.Stop:
this.button_Stop_Clicked(sender, e);
break;
case enum_Command.Forward:
this.button_Forward_Pressed(sender, e);
break;
case enum_Command.Backward:
this.button_Back_Pressed(sender, e);
break;
case enum_Command.LeftRotate:
this.button_LRotate_Pressed(sender, e);
break;
case enum_Command.RightRotate:
this.button_RRotate_Pressed(sender, e);
break;
case enum_Command.LeftShift:
this.button_LShift_Pressed(sender, e);
break;
case enum_Command.RightShift:
this.button_RShift_Pressed(sender, e);
break;
}
this.lastCommand = cmd;
Thread.Sleep(100);
}
}
