/// <summary>
/// This method will be called on the timer interval
/// </summary>
public void SetMotorValues()
{
MotorData intermediateData = CurrentMotorData;
if (TargetMotorData == null)
{
TargetMotorData = CurrentMotorData;
}
intermediateData.LeftMotor = IntermediatePwmCalculator(CurrentMotorData.LeftMotor, TargetMotorData.LeftMotor);
intermediateData.RightMotor = IntermediatePwmCalculator(CurrentMotorData.RightMotor, TargetMotorData.RightMotor);
ValueHolder[(int)ArduinoValues.LeftMotorPwm] = intermediateData.LeftMotor.Speed;
ValueHolder[(int)ArduinoValues.LeftMotorCcw] = intermediateData.LeftMotor.IsCcw ? 1 : 0;
ValueHolder[(int)ArduinoValues.RightMotorPwm] = intermediateData.RightMotor.Speed;
ValueHolder[(int)ArduinoValues.RightMotorCcw] = intermediateData.RightMotor.IsCcw ? 1 : 0;
}
/// <summary>
/// Set valueHolder initial values
/// </summary>
private void SetInitialValues()
{
XDocument xml = XDocument.Load(@"Data\ArduinoValues.xml");
List <XElement> elements = xml.Root.Element("ArduinoDefaultValues").Elements().ToList();
foreach (XElement element in elements)
{
ValueHolder.Add(
(int)(ArduinoValues)Enum.Parse(typeof(ArduinoValues), (string)element.Attribute("name")),
int.Parse(element.Value));
}
CurrentMotorData = new MotorData(
new InnerMotorData(ValueHolder[(int)ArduinoValues.LeftMotorCcw] == 1, ValueHolder[(int)ArduinoValues.LeftMotorPwm]),
new InnerMotorData(ValueHolder[(int)ArduinoValues.LeftMotorCcw] == 1, ValueHolder[(int)ArduinoValues.LeftMotorPwm])
);
}
/// <summary>
/// Set target
/// </summary>
/// <param name="x"></param>
/// <param name="y"></param>
/// <param name="trigger"></param>
public void UpdateMotors(int x, int y, int trigger)
{
TargetMotorData = GetMotorData(x, y, trigger);
}
