//! @brief sends a stop command to sphero
private void SendStopCommand()
{
if (m_sphero != null)
{
m_sphero.Roll(m_lastHeading, 0);
}
}
/*!
* @brief calibrate from the given @a point in relationship to m_calibrateRotationRoot
* @param point the point relative to the rotation root
*/
private void CalibrateFromPoint(Point point)
{
float width = (float)m_calibrateRotationRoot.ActualWidth;
float height = (float)m_calibrateRotationRoot.ActualHeight;
// move origin from the top left to the center with y-up and x-right
Matrix matrix = new Matrix(
1, 0,
0, -1,
-width / 2.0, height / 2.0);
Point localPoint = matrix.Transform(point);
float angle = (float)Math.Atan2(localPoint.Y, localPoint.X);
int angleDegrees = (int)(angle * 180.0 / Math.PI);
angleDegrees += 90;
angleDegrees = (angleDegrees + 360) % 360;
angleDegrees = 360 - angleDegrees;
// apply the rotation to the ui
m_rotation.Angle = angleDegrees;
// preview the calibration and limit to 10 Hz
long milliseconds = DateTime.Now.Ticks / TimeSpan.TicksPerMillisecond;
if ((milliseconds - m_lastCommandSentTimeMs) > 100)
{
m_sphero.Roll(angleDegrees, 0);
m_lastCommandSentTimeMs = milliseconds;
}
}
