/// <summary>
/// Move Rovio forwards and backwards.
/// </summary>
/// <param name="iterations">Number of times to loop through.</param>
/// <param name="speed">Movement speed (1-10 highest to lowest). Negative value to move backwards.</param>
protected void MoveForward(int iterations, int speed)
{
lock (commandLock)
for (int i = 0; i < iterations; i++)
{
if (speed < 0)
{
Drive.Backward(Math.Abs(speed));
}
else
{
Drive.Forward(speed);
}
}
}
/// <summary>
/// Implement base class method to define user input.
/// </summary>
protected override void KeyboardInput()
{
if (keys.Count > 0)
{
moving = true;
}
if (keys.Contains(87))
{
Drive.Forward(1);
}
else if (keys.Contains(81))
{
Drive.RotateLeft(5);
}
else if (keys.Contains(69))
{
Drive.RotateRight(5);
}
else if (keys.Contains(83))
{
Drive.Backward(1);
}
else if (keys.Contains(65))
{
Drive.DiagForwardLeft(1);
}
else if (keys.Contains(68))
{
Drive.DiagForwardRight(1);
}
else if (keys.Count == 0 && moving)
{
Drive.Stop();
moving = false;
}
}
//Move forward/backward at speed velocity for revolutions of repetions
public void DriveStraight(int velocity, int repetitions)
{
if ((velocity > 0) && (velocity < 11))
{
for (int x = 0; x < repetitions; x++)
{
Drive.Forward(velocity);
}
}
else if ((velocity < 0) && (velocity > -11))
{
velocity = velocity * -1;
for (int x = 0; x < repetitions; x++)
{
Drive.Backward(velocity);
}
}
else
{
System.Windows.Forms.MessageBox.Show("Invalid Command");
}
}
