/**
* Called when the FovTracker has a result on exactly how much the screen moved by. Calculates
* which direction the stage should move for the next stride, then executes the move.
*/
public void motionResult(Point result) {
tracker.pause();
MathUtils.subtract(offtarget, result);
if (targetReached()) {
stop();
} else if (steps.y > steps.x) {
steps.y -= STRIDE_SIZE;
stage.swipeY(STRIDE_SIZE);
} else if (steps.x > steps.y) {
steps.x -= STRIDE_SIZE;
stage.swipeX(STRIDE_SIZE);
}
}
/** The navigator will move to the target specified by setTarget() */
public void start() {
System.out.println("initiate navigation");
if (!calibrator.isCalibrated()
|| !stage.bluetoothConnected()
|| calibrator.isRunning()
|| autofocus.isRunning()
|| isRunning()
|| !targetSet) return;
System.out.println("prerequisites fulfilled");
targetSet = false;
moving = true;
tracker.start();
}
