public void ChangeColor(SpheroColor color)
{
var currentTime = DateTime.Now;
var deltaTime = currentTime - _lastChangeTime;
if (deltaTime.TotalMilliseconds > 100)
{
_colorLock = false;
_lastChangeTime = currentTime;
//_robot.SetRGBLED(255, 255, 255);
}
if (_colorLock)
{
return;
}
if (color == SpheroColor.RED)
{
_robot.SetRGBLED(255, 0, 0);
_lastChangeTime = currentTime;
_colorLock = true;
}
else if (color == SpheroColor.GREEN)
{
_robot.SetRGBLED(0, 255, 0);
_lastChangeTime = currentTime;
_colorLock = true;
}
else
{
//_robot.SetRGBLED(255, 255, 255);
_colorLock = false;
}
}
//! @brief when a robot is connected, get ready to drive!
private void OnRobotConnected(object sender, Robot robot)
{
Debug.WriteLine(string.Format(kSpheroConnected, robot));
//ConnectionToggle.IsOn = true;
//ConnectionToggle.OnContent = "Connected";
SpheroConnected = true;
m_robot.SetRGBLED(255, 255, 255);
SpheroName = string.Format(kSpheroConnected, robot.BluetoothName);
m_robot.SensorControl.Hz = 10;
m_robot.SensorControl.GyrometerUpdatedEvent += OnGyrometerUpdated;
m_robot.SensorControl.AccelerometerUpdatedEvent += OnAccelerometerUpdated;
//m_robot.CollisionControl.StartDetectionForWallCollisions();
//m_robot.CollisionControl.CollisionDetectedEvent += OnCollisionDetected;
}
//! @brief when a robot is connected, get ready to drive!
private void OnRobotConnected(object sender, Robot robot)
{
SpheroName = string.Format(kSpheroConnected, robot.BluetoothName);
Debug.WriteLine(SpheroName);
m_robot = (Sphero)robot;
ConnectionToggle.IsOn = true;
ConnectionToggle.OnContent = "Connected";
SpheroConnected = true;
m_robot.SetRGBLED(255, 255, 255);
InitializeSensorReading.IsEnabled = true;
m_robot.SensorControl.Hz = 15;
Debug.WriteLine("SensorControl Hz Set");
//m_robot.CollisionControl.StartDetectionForWallCollisions();
//m_robot.CollisionControl.CollisionDetectedEvent += OnCollisionDetected;
}
//Начальное состояние робота. Он зеленый и неподвижно стоит
private void SetRobotDefault()
{
m_robot.SetHeading(0);
m_robot.SetRGBLED(0, 255, 0);
m_robot.Roll(0, 0);
}
//Начальное состояние робота. Он зеленый и неподвижно стоит
private void SetGreenColor()
{
m_robot.SetHeading(0);
m_robot.SetBackLED(1.0f);
m_robot.SetRGBLED(0, 255, 0);
}
