public override void Run(CRobot Robot, CRecog Recog)
{
Console.WriteLine("Recog in 15 seconds...");
Thread.Sleep(15000);
Console.WriteLine("1 sec left");
Thread.Sleep(1000);
Console.WriteLine("Frame Captured");
String recData = Recog.RunRecog();
Console.WriteLine("Recog result: " + recData);
//Thread.Sleep(100000);
Robot.SetGeneralPower(60, 150);
Thread.Sleep(3500);
Robot.SetGeneralPower(60, 20);
int cid = -1;
//while (Robot.AnalogRead(PinDefs.RightLightB)<400) ;
while (true)
{
if (Robot.AnalogRead(PinDefs.RightLightB) > 400)
{
Robot.SetGeneralPower(-55, 105);
}
else
if (Robot.AnalogRead(PinDefs.RightLightW) < 400)
{
Robot.SetGeneralPower(105, -55);
}
else
{
Robot.SetGeneralPower(105, 105);
}
Console.Clear();
//Console.WriteLine(Robot.GetODS());
// Console.WriteLine("" + Robot.AnalogRead(PinDefs.RightLightB) + "B");
// Console.WriteLine("" + Robot.AnalogRead(PinDefs.RightLightW) + "W");
Console.WriteLine("Target:" + recData);
int tcid = cid;
cid = int.Parse(Recog.ColorRecog());
if (cid == tcid)
{
switch (cid)
{
case 0:
Console.WriteLine("I see Red");
break;
case 1:
Console.WriteLine("I see Blue");
break;
case 2:
Console.WriteLine("I see Green");
break;
case 3:
Console.WriteLine("I see Yellow");
break;
case 4:
Console.WriteLine("I see Orange");
break;
}
}
if (Robot.AnalogRead(PinDefs.LeftLightB) > 400)
{
break;
}
}
Robot.SetGeneralPower(60, 50);
Thread.Sleep(1000);
while (Robot.AnalogRead(PinDefs.RightLightW) > 400)
{
;
}
Robot.SetGeneralPower(0, 0);
}