//called when the 45 m mark is reached before headland
public void YouTurnTrigger()
{
//trigger pulled and make box double ended
isYouTurnTriggered = true;
isSequenceTriggered = true;
//our direction heading into turn
isABLineSameAsHeadingAtTrigger = mf.ABLine.isABSameAsFixHeading;
//data buffer for pixels read from off screen buffer
byte[] grnPix = new byte[401];
//read a pixel line across full buffer width
glb.ReadPixels(0, 205, 399, 1, OpenGL.GL_GREEN, OpenGL.GL_UNSIGNED_BYTE, grnPix);
//set up the positions to scan in the array for applied
int leftPos = mf.vehicle.rpXPosition - 15;
if (leftPos < 0)
{
leftPos = 0;
}
int rightPos = mf.vehicle.rpXPosition + mf.vehicle.rpWidth + 15;
if (rightPos > 399)
{
rightPos = 399;
}
//do we need a left or right turn
bool isGrnOnLeft = false, isGrnOnRight = false;
//green on left means turn right
for (int j = leftPos; j < mf.vehicle.rpXPosition; j++)
{
isGrnOnLeft = grnPix[j] > 50;
}
//green on right means turn left
for (int j = (rightPos - 10); j < rightPos; j++)
{
isGrnOnRight = grnPix[j] > 50;
}
//set point and save to start measuring from
isYouTurnTriggerPointSet = true;
youTurnTriggerPoint = mf.pivotAxlePos;
//one side or the other - but not both Exclusive Or
if (isGrnOnLeft ^ isGrnOnRight)
{
isYouTurnRight = !isGrnOnRight;
}
else //can't determine which way to turn, so pick opposite of last turn
{
//just do the opposite of last turn
isYouTurnRight = !isLastYouTurnRight;
isLastYouTurnRight = !isLastYouTurnRight;
}
//modify the buttons to show the correct turn direction
if (isYouTurnRight)
{
mf.AutoYouTurnButtonsRightTurn();
}
else
{
mf.AutoYouTurnButtonsLeftTurn();
}
}
//called when the 25 m mark is reached before headland
public void YouTurnTrigger()
{
//trigger pulled and make box double ended
isYouTurnTriggered = true;
//our direction heading into turn
if (mf.ABLine.isABLineSet)
{
isABLineSameAsHeadingAtTrigger = mf.ABLine.isABSameAsVehicleHeading;
}
else
{
isABLineSameAsHeadingAtTrigger = mf.curve.isSameWay;
}
//data buffer for pixels read from off screen buffer
byte[] grnPix = new byte[501];
//read a pixel line across full buffer width
glb.ReadPixels(0, 255, 499, 1, OpenGL.GL_GREEN, OpenGL.GL_UNSIGNED_BYTE, grnPix);
//set up the positions to scan in the array for applied
int leftPos = mf.vehicle.rpXPosition - 15;
if (leftPos < 0)
{
leftPos = 0;
}
int rightPos = mf.vehicle.rpXPosition + mf.vehicle.rpWidth + 15;
if (rightPos > 499)
{
rightPos = 499;
}
//do we need a left or right turn
bool isGrnOnLeft = false, isGrnOnRight = false;
//green on left means turn right
for (int j = leftPos; j < mf.vehicle.rpXPosition; j++)
{
isGrnOnLeft = grnPix[j] > 50;
}
//green on right means turn left
for (int j = (rightPos - 10); j < rightPos; j++)
{
isGrnOnRight = grnPix[j] > 50;
}
//one side or the other - but not both Exclusive Or
//if (isGrnOnLeft ^ isGrnOnRight)
//{
// isYouTurnRight = !isGrnOnRight;
//}
//else //can't determine which way to turn, so pick opposite of last turn
{
//just do the opposite of last turn
isYouTurnRight = !isLastYouTurnRight;
isLastYouTurnRight = !isLastYouTurnRight;
}
//set point and save to start measuring from
isYouTurnTriggerPointSet = true;
if (mf.yt.isDew2Set) //Loops of 2,3 skips
{
bool dir = true;
if (isDew2Right)
{
dir = dew2Direction[dew2Index];
}
else
{
dir = !dew2Direction[dew2Index];
}
if (dir)
{
isYouTurnRight = true;
isLastYouTurnRight = !isYouTurnRight;
}
else
{
isYouTurnRight = false;
isLastYouTurnRight = !isYouTurnRight;
}
}
if (mf.yt.isDew4Set) //Loops of 3,4 skips
{
bool dir = true;
if (isDew2Right)
{
dir = dew4Direction[dew4Index];
}
else
{
dir = !dew4Direction[dew4Index];
}
if (dir)
{
isYouTurnRight = true;
isLastYouTurnRight = !isYouTurnRight;
}
else
{
isYouTurnRight = false;
isLastYouTurnRight = !isYouTurnRight;
}
}
//modify the buttons to show the correct turn direction
if (isYouTurnRight)
{
mf.AutoYouTurnButtonsRightTurn();
}
else
{
mf.AutoYouTurnButtonsLeftTurn();
}
}
