private void PollLeap()
{
Task.Factory.StartNew(async() =>
{
while (true)
{
await Task.Delay(100);
var frame = LeapHardware.LeapController.Frame();
if (frame.Fingers.Count > 0 && frame.Hands.Count > 0 && frame.IsValid)
{
if (!LeapHardware.RequestMovement)
{
RequestSetMovement(true);
}
LeapHardware.RequestMovement = true;
HandList hands = frame.Hands;
var leftmost = hands.FirstOrDefault(h => h.IsLeft);
var rightmost = hands.FirstOrDefault(h => h.IsRight);
//var travelDirection = rightmost?.Direction;
//Debug.WriteLine($"Direction {travelDirection}");
if (rightmost != null)
{
var asdf = rightmost.Fingers[0].Type;
float pitch = rightmost.PalmNormal.Pitch;
float yaw = rightmost.Direction.Yaw;
float roll = rightmost.PalmNormal.Roll;
//Debug.WriteLine("-----------------------------");
//Debug.WriteLine($"Pitch {pitch}");
if (pitch < minPitch)
{
minPitch = pitch;
Debug.WriteLine($"min pitch {minPitch}");
}
if (pitch > maxPitch)
{
maxPitch = pitch;
Debug.WriteLine($"max pitch {maxPitch}");
}
if (roll < minRoll)
{
minRoll = roll;
Debug.WriteLine($"min roll {minRoll}");
}
if (roll > maxRoll)
{
maxRoll = roll;
Debug.WriteLine($"max roll {maxRoll}");
}
if (yaw < minYaw)
{
minYaw = yaw;
Debug.WriteLine($"min yaw {minYaw}");
}
if (yaw > maxYaw)
{
maxYaw = yaw;
Debug.WriteLine($"max yaw {maxYaw}");
}
//Debug.WriteLine($"Yaw {yaw}");
//Debug.WriteLine($"Roll {roll}");
var mPitch = Map(pitch, minPitch, maxPitch, -6, 6);
var mYaw = Map(yaw, minYaw, maxYaw, -6, 6);
var mRoll = Map(roll, minRoll, maxRoll, -6, 6);
Debug.WriteLine($"Mapped yaw {mYaw}");
Debug.WriteLine($"Mapped pitch {mPitch}");
Debug.WriteLine($"Mapped roll {mRoll}");
}
}
else
{
LeapHardware.RequestMovement = false;
RequestSetMovement(false);
}
}
});
}
public override void OnFrame(Controller controller)
{
var frame = controller.Frame();
if (frame.Fingers.Count > 0 && frame.Hands.Count > 0 && frame.IsValid)
{
if (!isEnabled)
{
_requestSetMovement(true);
}
isEnabled = true;
HandList hands = frame.Hands;
var leftmost = hands.FirstOrDefault(h => h.IsLeft);
var rightmost = hands.FirstOrDefault(h => h.IsRight);
var travelDirection = rightmost?.Direction;
//Debug.WriteLine($"Direction {travelDirection}");
if (rightmost != null)
{
var asdf = rightmost.Fingers[0].Type;
float pitch = rightmost.PalmNormal.Pitch;
float yaw = rightmost.Direction.Yaw;
float roll = rightmost.PalmNormal.Roll;
//Debug.WriteLine("-----------------------------");
//Debug.WriteLine($"Pitch {pitch}");
if (pitch < minPitch)
{
minPitch = pitch;
Debug.WriteLine($"min pitch {minPitch}");
}
if (pitch > maxPitch)
{
maxPitch = pitch;
Debug.WriteLine($"max pitch {maxPitch}");
}
if (roll < minRoll)
{
minRoll = roll;
Debug.WriteLine($"min roll {minRoll}");
}
if (roll > maxRoll)
{
maxRoll = roll;
Debug.WriteLine($"max roll {maxRoll}");
}
if (yaw < minYaw)
{
minYaw = yaw;
Debug.WriteLine($"min yaw {minYaw}");
}
if (yaw > maxYaw)
{
maxYaw = yaw;
Debug.WriteLine($"max yaw {maxYaw}");
}
//Debug.WriteLine($"Yaw {yaw}");
//Debug.WriteLine($"Roll {roll}");
var mPitch = Map(pitch, minPitch, maxPitch, -6, 6);
var mYaw = Map(yaw, minYaw, maxYaw, -6, 6);
var mRoll = Map(roll, minRoll, maxRoll, -6, 6);
Debug.WriteLine($"Mapped yaw {mYaw}");
Debug.WriteLine($"Mapped pitch {mPitch}");
Debug.WriteLine($"Mapped roll {mRoll}");
}
}
else
{
isEnabled = false;
_requestSetMovement(false);
}
}
