public void Right(bool isStreight = false)
{
if (!isStreight)
{
CancelTimer();
}
State = EState.Right;
BcoreManager.SetMotorPwm(0, Bcore.MaxMotorPwm);
BcoreManager.SetServoPos(0, Pref.ServoPosRight);
}
public void Stop(bool isStreight = false)
{
if (!isStreight)
{
CancelTimer();
}
if (State == EState.Left)
{
State = EState.LStop;
}
else if (State == EState.Right)
{
State = EState.RStop;
}
BcoreManager.SetMotorPwm(0, Bcore.StopMotorPwm);
}
public void OnSensorChanged(SensorEvent e)
{
if (!BcoreManager.IsInitialized)
{
return;
}
var accz = e.Values[2];
//Android.Util.Log.Debug("ControllerService", "acc:{0}", accz);
var state = EState.Stop;
if (accz > 6.0)
{
state = EState.Left;
}
else if (accz < -6.0)
{
state = EState.Right;
}
if (state == State)
{
return;
}
var speed = 0x80;
switch (state)
{
case EState.Left:
speed = 255;
break;
case EState.Right:
speed = 0;
break;
}
BcoreManager.SetMotorPwm(0, speed);
State = state;
}
