private bool ProcessAction(string requestPath, NameValueCollection parameters)
{
try {
switch (requestPath)
{
case "/motor/forward":
_vehiclePrecise.Forward(Convert.ToSByte(parameters.Get("speed")), Convert.ToUInt32(parameters.Get("steps")));
return(true);
case "/motor/backward":
_vehiclePrecise.Backward(Convert.ToSByte(parameters.Get("speed")), Convert.ToUInt32(parameters.Get("steps")));
return(true);
case "/motor/left":
_vehicle.SpinLeft(Convert.ToSByte(parameters.Get("speed")), Convert.ToUInt32(parameters.Get("degrees")), true);
return(true);
case "/motor/right":
_vehicle.SpinRight(Convert.ToSByte(parameters.Get("speed")), Convert.ToUInt32(parameters.Get("degrees")), true);
return(true);
case "/motor/brake":
_vehicle.Brake();
return(true);
case "/motor/leftforward":
_vehicle.TurnLeftForward(Convert.ToSByte(parameters.Get("speed")), Convert.ToSByte(parameters.Get("turnPrecent")));
Thread.Sleep(Convert.ToInt32(parameters.Get("delay")));
_vehicle.Brake();
return(true);
case "/motor/leftbackward":
_vehicle.TurnLeftReverse(Convert.ToSByte(parameters.Get("speed")), Convert.ToSByte(parameters.Get("turnPrecent")));
Thread.Sleep(Convert.ToInt32(parameters.Get("delay")));
_vehicle.Brake();
return(true);
case "/motor/rightforward":
_vehicle.TurnRightForward(Convert.ToSByte(parameters.Get("speed")), Convert.ToSByte(parameters.Get("turnPrecent")));
Thread.Sleep(Convert.ToInt32(parameters.Get("delay")));
_vehicle.Brake();
return(true);
case "/motor/rightbackward":
_vehicle.TurnRightReverse(Convert.ToSByte(parameters.Get("speed")), Convert.ToSByte(parameters.Get("turnPrecent")));
Thread.Sleep(Convert.ToInt32(parameters.Get("delay")));
_vehicle.Brake();
return(true);
case "/hefvork/reset":
_hefVork.Reset();
return(true);
case "/hefvork/fullyDown":
_hefVork.MoveDown(Convert.ToInt32(parameters.Get("precent")));
return(true);
case "/hefvork/down":
_hefVork.MoveDown(Convert.ToInt32(parameters.Get("precent")));
return(true);
case "/hefvork/up":
_hefVork.MoveUp(Convert.ToInt32(parameters.Get("precent")));
return(true);
}
} catch (Exception e) {
MonoBrickFirmware.Display.LcdConsole.WriteLine(e.Message);
}
return(false);
}
public void Step1()
{
_hefVork.Reset();
_hefVork.MoveDown(100);
}