Gadgeteer_DC_Motor_01

using System;
using System.Collections;
using System.Threading;
using Microsoft.SPOT;
using Microsoft.SPOT.Presentation;
using Microsoft.SPOT.Presentation.Controls;
using Microsoft.SPOT.Presentation.Media;
using Microsoft.SPOT.Touch;

using Gadgeteer.Networking;
using GT = Gadgeteer;
using GTM = Gadgeteer.Modules;
using Gadgeteer.Modules.GHIElectronics;

namespace Gadgeteer_DC_Motor_01
{
    public partial class Program
    {

        GT.Timer timer = new GT.Timer(100, GT.Timer.BehaviorType.RunContinuously);

        // joystick position
        double joystickPosX;
        double joystickPosY;

        // previous joystick position
        double previousJoystickPosX;
        double previousJoystickPosY;

        // the tolerance to decide
        double joystickTolerance = 0.20;

        //bool flip = false;

        // This method is run when the mainboard is powered up or reset.
        void ProgramStarted()
        {
            /*******************************************************************************************
            Modules added in the Program.gadgeteer designer view are used by typing
            their name followed by a period, e.g.  button.  or  camera.

            Many modules generate useful events. Type +=<tab><tab> to add a handler to an event, e.g.:
                button.ButtonPressed +=<tab><tab>

            If you want to do something periodically, use a GT.Timer and handle its Tick event, e.g.:
                GT.Timer timer = new GT.Timer(1000); // every second (1000ms)
                timer.Tick +=<tab><tab>
                timer.Start();
            *******************************************************************************************/

            timer.Tick += new GT.Timer.TickEventHandler(timer_Tick);
            timer.Start();

            // Use Debug.Print to show messages in Visual Studio's "Output" window during debugging.
            Debug.Print("Program Started");
        }

        void timer_Tick(GT.Timer timer)
        {

            // tell the robot to look at the joystick and get it's position
            joystickPosX = joystick.GetJoystickPosition().X; // assigns the x-direction from 0 to 1 to the variable holder joystickPosX
            joystickPosY = joystick.GetJoystickPosition().Y; // assigns the y-direction from 0 to 1 to the variable holder joystickPosY

            Debug.Print("joystickPosX: " + joystickPosX + " joystickPosY: " + joystickPosY);


            // check to see if the last value is signifcantly different from the current value
            if (joystickPosX < previousJoystickPosX + joystickTolerance && joystickPosX > previousJoystickPosX - joystickTolerance)
            {
                // send a new value to the motor
                motorControllerL298.MoveMotor(MotorControllerL298.Motor.Motor1, (int)(joystickPosX * 100));
            }

            if (joystickPosY < previousJoystickPosY + joystickTolerance && joystickPosY > previousJoystickPosY - joystickTolerance)
            {
                // send a new value to the motor
                motorControllerL298.MoveMotor(MotorControllerL298.Motor.Motor2, (int)(joystickPosY * 100));
            }

            previousJoystickPosX = joystickPosX;
            previousJoystickPosY = joystickPosY;


        }
    }
}