protected override void OnForwardBackwardDirectionChanged(RacerForwardBackwardDirection Direction)
{
if (Racer != null && Racer.IsConnected)
{
Racer.ForwardBackwardDirection = Direction;
Racer.GoAsync();
}
base.OnForwardBackwardDirectionChanged(Direction);
}
void accelerometer_ReadingChanged(Accelerometer sender, AccelerometerReadingChangedEventArgs args)
{
double accelLR;
double accelFB;
if(IsPortrait())
{
accelLR = args.Reading.AccelerationX;
accelFB = args.Reading.AccelerationY;
}
else
{
accelLR = args.Reading.AccelerationY;
accelFB = args.Reading.AccelerationX;
}
double polarityLR = (Orientation == PageOrientation.None || Orientation == PageOrientation.PortraitUp || Orientation == PageOrientation.LandscapeRight) ? +1 : -1;
double polarityFB = (Orientation == PageOrientation.None || Orientation == PageOrientation.PortraitUp || Orientation == PageOrientation.LandscapeLeft) ? +1 : -1;
//Need to figure this out better.
var lr = (int)Clamp((int)(accelLR * polarityLR * 10),-10,10);
var fb = (int)Clamp((int)(accelFB * polarityFB * 10),-10,10);
var lrval = Math.Round(Map(lr, -3, 3, -1, 1));
var fbval = Math.Round(Map(fb, -3, 3, -1, 1));
var lrdir = (RacerLeftRightDirection)lrval;
var fbdir = (RacerForwardBackwardDirection)fbval;
var speedval = (int)Math.Round(Map(Math.Abs(fb), 0, 6, 0, 15));
//Debug.WriteLine("(x,y,z)=({0:N4},{1:N4},{2:N4})", args.Reading.AccelerationX, args.Reading.AccelerationY, args.Reading.AccelerationZ);
//Debug.WriteLine("(lr,fb)=({0},{1})", lr, fb);
Debug.WriteLine("(lr,fb) = ({0},{1}) - (lrval,fbvbal,speedval)=({2},{3},{4}) - (lrdir,fbdir,speedval)=({5},{6},{4})", lr, fb, lrval, fbval, speedval, lrdir, fbdir);
if (leftRightDirection != lrdir)
{
OnLeftRightDirectionChanged(lrdir);
leftRightDirection = lrdir;
}
if (forwardBackwardDirection != fbdir)
{
OnForwardBackwardDirectionChanged(fbdir);
forwardBackwardDirection = fbdir;
}
if (speed != speedval)
{
OnSpeedChanged(speedval);
speed = speedval;
}
}
public RacerForwardBackwardDirectionChangedEventArgs(RacerForwardBackwardDirection Direction)
{
this.Direction = Direction;
}
protected virtual void OnForwardBackwardDirectionChanged(RacerForwardBackwardDirection Direction)
{
if (RacerForwardBackwardDirectionChanged != null)
RacerForwardBackwardDirectionChanged(this, new RacerForwardBackwardDirectionChangedEventArgs(Direction));
}
