void StopMoving()
{
if (currentScalarState != ScalarMotionState.STOPPED)
{
webView.Eval("wsSendCommand('command', 'walkY 100');");
}
currentScalarState = ScalarMotionState.STOPPED;
}
void GoBackScalar()
{
if (currentScalarState == ScalarMotionState.BACK)
{
return;
}
else if (currentScalarState == ScalarMotionState.FORWARD)
{
StopMoving();
}
webView.Eval("wsSendCommand('command', 'walkY 80');");
currentScalarState = ScalarMotionState.BACK;
}
public MotionPage()
{
InitializeComponent();
var defaultColor = goForwardButton.BackgroundColor;
rotationSlider.Maximum = 130;
rotationSlider.Minimum = 70;
rotationSlider.Value = 100;
rotationSlider.ValueChanged += (sender, e) => {
if (e.NewValue > 80 && e.NewValue < 110)
{
StopTranslation();
}
else if (e.NewValue < 100)
{
TranslateLeft();
}
else
{
TranslateRight();
}
};
currentDirectionState = DirectionalMotionState.STRAIGHT;
currentScalarState = ScalarMotionState.STOPPED;
joyStickTranslation.OnValueChanged += (float xPos, float yPos) => {
Debug.WriteLine("" + xPos + ", " + yPos);
if (xPos > 0.5)
{
TranslateRight();
}
else if (xPos < -0.5)
{
TranslateLeft();
}
else
{
StopTranslation();
}
if (yPos > 0.5)
{
GoBackScalar();
}
else if (yPos < -0.5)
{
GoForwardScalar();
}
else
{
StopMoving();
}
};
joyStickRotation.OnValueChanged += (float xPos, float yPos) => {
if (xPos > 0.5)
{
RotateRight();
}
else if (xPos < -0.5)
{
RotateLeft();
}
else
{
StopRotation();
}
};
stopButton.Clicked += async(object sender, EventArgs e) => {
StopMoving();
StopTranslation();
StopRotation();
await stopButton.AnimateButton();
goForwardButton.BackgroundColor = defaultColor;
goBackButton.BackgroundColor = defaultColor;
StopAnimationSpider();
};
goForwardButton.Clicked += async(object sender, EventArgs e) => {
GoForwardScalar();
await goForwardButton.AnimateButton();
goForwardButton.BackgroundColor = Color.Red;
goBackButton.BackgroundColor = defaultColor;
if (!animating)
{
StartAnimationSpider();
}
};
goBackButton.Clicked += async(object sender, EventArgs e) => {
GoBackScalar();
await goBackButton.AnimateButton();
goForwardButton.BackgroundColor = defaultColor;
goBackButton.BackgroundColor = Color.Red;
if (!animating)
{
StartAnimationSpider();
}
};
}
