private void UpdateSensor()
{
motor_a_sensor.UpdateSensorValues();
motor_b_sensor.UpdateSensorValues();
this.writer.Set("motor_angle_a", (int)motor_a_sensor.GetDegree());
this.writer.Set("motor_angle_b", (int)motor_b_sensor.GetDegree());
colorSensor.UpdateSensorValues();
ultrasonicSensor.UpdateSensorValues();
this.writer.Set("sensor_ultrasonic", (int)(this.ultrasonicSensor.GetDistanceValue() * 10));
this.writer.Set("sensor_reflect", (int)(this.colorSensor.GetLightValue() * 100f));
ColorRGB color_sensor_rgb;
this.colorSensor.GetRgb(out color_sensor_rgb);
this.writer.Set("sensor_rgb_r", color_sensor_rgb.r);
this.writer.Set("sensor_rgb_g", color_sensor_rgb.g);
this.writer.Set("sensor_rgb_b", color_sensor_rgb.b);
this.writer.Set("sensor_color", (int)this.colorSensor.GetColorId());
}
private void UpdateSensor()
{
if (this.motor_a_sensor != null)
{
motor_a_sensor.UpdateSensorValues();
this.writer.Set("motor_angle_a", (int)motor_a_sensor.GetDegree());
}
if (this.motor_b_sensor != null)
{
motor_b_sensor.UpdateSensorValues();
this.writer.Set("motor_angle_b", (int)motor_b_sensor.GetDegree());
}
if (this.motor_arm_sensor != null)
{
motor_arm_sensor.UpdateSensorValues();
this.writer.Set("motor_angle_c", (int)motor_arm_sensor.GetDegree());
}
if (this.colorSensor != null)
{
colorSensor.UpdateSensorValues();
this.writer.Set("sensor_reflect", (int)(this.colorSensor.GetLightValue() * 100f));
ColorRGB color_sensor_rgb;
this.colorSensor.GetRgb(out color_sensor_rgb);
this.writer.Set("sensor_rgb_r", color_sensor_rgb.r);
this.writer.Set("sensor_rgb_g", color_sensor_rgb.g);
this.writer.Set("sensor_rgb_b", color_sensor_rgb.b);
this.writer.Set("sensor_color", (int)this.colorSensor.GetColorId());
}
if (this.ultrasonicSensor != null)
{
ultrasonicSensor.UpdateSensorValues();
this.writer.Set("sensor_ultrasonic", (int)(this.ultrasonicSensor.GetDistanceValue() * 10));
}
if (touchSensor0 != null)
{
touchSensor0.UpdateSensorValues();
if (this.touchSensor0.IsPressed())
{
//Debug.Log("Touched0:");
this.writer.Set("touch_sensor0", 4095);
}
else
{
this.writer.Set("touch_sensor0", 0);
}
}
if (touchSensor1 != null)
{
touchSensor1.UpdateSensorValues();
if (this.touchSensor1.IsPressed())
{
//Debug.Log("Touched1:");
this.writer.Set("touch_sensor1", 4095);
}
else
{
this.writer.Set("touch_sensor1", 0);
}
}
if (gyroSensor != null)
{
gyroSensor.UpdateSensorValues();
this.writer.Set("gyro_degree", (int)gyroSensor.GetDegree());
this.writer.Set("gyro_degree_rate", (int)gyroSensor.GetDegreeRate());
}
}