private void InitializeDevices()
{
Connection = new IPConnection();
Connection.Connect("localhost", 4223);
ServoBrick = new BrickServo("ap6zRki6edN", Connection);
SetupServoBrick();
DistanceBricklet = new BrickletDistanceIR("8XU", Connection);
var distanceCollection = new ClosestDistanceSensorCollection();
distanceCollection.AddSensor(new ImmediateDistanceIRSensor(DistanceBricklet));
Distances = distanceCollection;
var drivingStrategy = new SimpleDistanceDrivingStrategy(Engine, Distances);
drivingStrategy.MinimumDrivingDistance = 30.Centimeters();
drivingStrategy.ReversalDistance = 11.Centimeters();
drivingStrategy.RefreshInterval = 10;
this.DrivingStrategy = drivingStrategy;
}
private IDrivingStrategy SelectDrivingStrategy(IPlace place)
{
IDrivingStrategy drivingStrategy = null;
if (place is IRoadStretch)
{
if (_roadDrivingStrategy == null)
{
_roadDrivingStrategy = new RoadDrivingStrategy();
}
drivingStrategy = _roadDrivingStrategy;
}
else if (place is ITrafficLight)
{
if (_traficLightDrivingStrategy == null)
{
_traficLightDrivingStrategy = new TrafficLightDrivingStrategy();
}
drivingStrategy = _traficLightDrivingStrategy;
}
return drivingStrategy;
}