public void StartMove(Vector2 direction)
{
if (!CenteringDone())
{
return;
}
const float deadzone = 0.5f;
lock (_driver.SyncLock)
{
_driver.SetMovingSpeed(HorizontalMotorIndex, 30);
_driver.SetMovingSpeed(VerticalMotorIndex, 20);
if (-direction.Y > deadzone)
{
_driver.SetGoalPositionInDegrees(HorizontalMotorIndex, 0);
}
else if (-direction.Y < -deadzone)
{
_driver.SetGoalPositionInDegrees(HorizontalMotorIndex, 300);
}
else
{
var currentPos = _driver.GetPresentPosition(HorizontalMotorIndex);
_driver.SetGoalPosition(HorizontalMotorIndex, currentPos);
}
if (direction.X > deadzone)
{
_driver.SetGoalPositionInDegrees(VerticalMotorIndex, 270);
}
else if (direction.X < -deadzone)
{
_driver.SetGoalPositionInDegrees(VerticalMotorIndex, 30);
}
else
{
var currentPos = _driver.GetPresentPosition(VerticalMotorIndex);
_driver.SetGoalPosition(VerticalMotorIndex, currentPos);
}
}
}
