/// <summary>
/// Finch will try to get out of a room
/// </summary>
static void Maze()
{
DisplayHeader("Running");
myFinch.wait(1000);
Console.WriteLine("Trying to get out of the room...");
int speed = 100;
int waitTime = 1000;
bool running = true;
while (running)
{
myFinch.setLED(255, 255, 255);
myFinch.setMotors(speed, speed);
if (myFinch.isObstacleLeftSide())
{
myFinch.setLED(0, 0, 255);
myFinch.setMotors(-speed, -speed);
myFinch.wait(waitTime);
myFinch.setMotors(speed, 0);
myFinch.wait(waitTime);
myFinch.setLED(255, 255, 255);
}
if (myFinch.isObstacleRightSide())
{
myFinch.setLED(255, 0, 0);
myFinch.setMotors(-speed, -speed);
myFinch.wait(waitTime);
myFinch.setMotors(0, speed);
myFinch.wait(waitTime);
myFinch.setLED(255, 255, 255);
}
}
}
/// <summary>
/// Talent Show
/// </summary>
/// <param name="finchRobot"></param>
static void DisplayTalentShow(Finch finchRobot)
{
DisplayScreenHeader("Talent Show");
Console.WriteLine("The Finch robot is ready to show you its talent.");
DisplayContinuePrompt();
//ENTER MY CODE HERE TO MOVE IT AND STUFF
finchRobot.setMotors(75, 75);
finchRobot.isObstacleLeftSide();
finchRobot.isObstacleRightSide();
Console.ReadKey(); finchRobot.setMotors(75, 75);
finchRobot.isObstacleLeftSide();
finchRobot.isObstacleRightSide();
Console.ReadKey();
finchRobot.setMotors(100, 75);
finchRobot.isObstacleLeftSide();
finchRobot.isObstacleRightSide();
Console.ReadKey(); finchRobot.setMotors(100, 75);
finchRobot.setLED(255, 0, 0);
finchRobot.wait(9000);
finchRobot.noteOn(10000);
finchRobot.wait(1000);
finchRobot.noteOff();
finchRobot.setLED(0, 255, 0);
finchRobot.wait(11000);
finchRobot.noteOn(7000);
finchRobot.wait(1500);
finchRobot.setLED(0, 0, 255);
finchRobot.wait(12000);
finchRobot.noteOn(6500);
finchRobot.wait(500);
//for (int lightLevel = 0; lightLevel < 255; lightLevel++)
//{
// finchRobot.setLED(234, 132, 0);
//}
DisplayContinuePrompt();
}
private static void AdvoidLightAndObsticales(Finch alma)
{
alma.connect();
int light;
int lightThreshold = 8;
DisplayHeader("Finch flees before the spotlight");
Console.WriteLine("Finch will Avoid the spotlight (flashlight) for 10 seconds. The Finch will also Avoid Obsitacls");
light = alma.getRightLightSensor();
for (int i = 0; i < 17; i++)
{
alma.setMotors(100, 100);
alma.setLED(0, 255, 0);
alma.wait(500);
//
//avoid light
//
if ((lightThreshold + light) < alma.getRightLightSensor())
{
alma.setMotors(255, 0);
alma.setLED(255, 0, 0);
alma.wait(500);
alma.setMotors(255, 255);
alma.setLED(255, 0, 0);
alma.wait(1500);
alma.setMotors(0, 255);
alma.setLED(255, 0, 0);
alma.wait(500);
}
if (alma.isObstacleLeftSide())
{
alma.setMotors(0, 255);
alma.setLED(255, 0, 0);
alma.wait(500);
}
else if (alma.isObstacleRightSide())
{
alma.setMotors(255, 0);
alma.setLED(255, 0, 0);
}
}
alma.disConnect();
DisplayContinuePrompt();
}
static void DisplayTimObstacle(string timSide, Finch tim)
{
DisplayHeader("Tim Obstacle Detection");
if (timSide == "left")
{
Console.WriteLine($"Obstacle detected in Tims left eye: {tim.isObstacleLeftSide()}");
}
else if (timSide == "right")
{
Console.WriteLine($"Obstacle detected in Tims right eye: {tim.isObstacleRightSide()}");
}
DisplayKeyToContinue();
}
private static void advoidobstacles(Finch alma)
{
alma.connect();
DisplayHeader("Finch Avoids Obstacles.");
Console.WriteLine("Finch will Avoid objects for 10 seconds. While moving in a straight line");
for (int i = 0; i < 17; i++)
{
//
//avoid obstiacles
//
if (alma.isObstacleLeftSide())
{
alma.setMotors(0, 255);
alma.setLED(255, 0, 0);
alma.wait(500);
}
else if (alma.isObstacleRightSide())
{
alma.setMotors(255, 0);
alma.setLED(255, 0, 0);
alma.wait(500);
}
else
{
alma.setMotors(100, 100);
alma.setLED(0, 255, 0);
alma.wait(500);
DisplayHeader("Finch Avoids Obstacles.");
Console.WriteLine("Finch will Avoid objects for 10 seconds. While moving in a straight line");
Console.WriteLine("No Obstacle Found");
}
}
alma.disConnect();
DisplayContinuePrompt();
}
static void Main(string[] args)
{
// create Finch
Finch bot = new Finch();
bot.connect();
Console.WriteLine("Start XGamepadApp");
// Initialize XInput
var controllers = new[] { new Controller(UserIndex.One), new Controller(UserIndex.Two), new Controller(UserIndex.Three), new Controller(UserIndex.Four) };
// Get 1st controller available
Controller controller = null;
foreach (var selectControler in controllers)
{
if (selectControler.IsConnected)
{
controller = selectControler;
break;
}
}
if (controller == null)
{
Console.WriteLine("No XInput controller installed");
}
else
{
Console.WriteLine("Found a XInput controller available");
while (controller.IsConnected)
{
if (IsKeyPressed(ConsoleKey.Escape))
{
break;
}
var state = controller.GetState();
var LeftJoyX = state.Gamepad.LeftThumbX;
var LeftJoyY = state.Gamepad.LeftThumbY;
//Console.WriteLine($"X: {LeftJoyX} Y: {LeftJoyY}");
int lmotor = (LeftJoyY / 128) + (LeftJoyX / 128);
int rmotor = (LeftJoyY / 128) - (LeftJoyX / 128);
bot.setMotors(lmotor, rmotor);
if (state.Gamepad.RightThumbY > 0)
{
bot.noteOn(state.Gamepad.RightThumbY / 20);
}
if (state.Gamepad.RightThumbY < 0)
{
bot.noteOn((-(state.Gamepad.RightThumbY)) / 20);
}
int Red = 0;
int Green = 0;
int Blue = 0;
if (state.Gamepad.Buttons == GamepadButtonFlags.B)
{
Red = Red + 255;
Console.WriteLine($"Temperature: {bot.getTemperature()}");
}
if (state.Gamepad.Buttons == GamepadButtonFlags.A)
{
Green = Green + 255;
}
if (state.Gamepad.Buttons == GamepadButtonFlags.X)
{
Blue = Blue + 255;
}
if (state.Gamepad.Buttons == GamepadButtonFlags.Y)
{
Red = Red + 255;
Green = Green + 255;
Console.WriteLine($"Light Level: {bot.getLeftLightSensor()}");
}
bot.setLED(Red, Green, Blue);
while (bot.isObstacleLeftSide() || bot.isObstacleRightSide())
{
bot.setMotors(-255, -255);
}
}
}
Console.WriteLine("End XGamepadApp");
bot.disConnect();
}
