void InputThread()
{
GT.Socket socket = GT.Socket.GetSocket(5, true, null, null);
//Mainboard.TurnOnLed(6);
DigitalInput p7 = DigitalInputFactory.Create(socket, GT.Socket.Pin.Three, GlitchFilterMode.Off, ResistorMode.PullDown, breakout);
//Mainboard.TurnOnLed(7);
DigitalInput p8 = DigitalInputFactory.Create(socket, GT.Socket.Pin.Four, GlitchFilterMode.Off, ResistorMode.PullDown, breakout);
//Mainboard.TurnOnLed(8);
DigitalInput p9 = DigitalInputFactory.Create(socket, GT.Socket.Pin.Five, GlitchFilterMode.Off, ResistorMode.PullDown, breakout);
//Mainboard.TurnOnLed(9);
while (true)
{
int spd = 50;
string cmd = GetCommand(p7, p8, p9);
//Debug.Print("CMD " + cmd);
switch (cmd)
{
case "STOP":
Mainboard.SetMotorSpeed(0, 0);
break;
case "GO":
Mainboard.SetMotorSpeed(spd, spd);
break;
case "LEFT":
Mainboard.SetMotorSpeed(spd, -spd);
break;
case "RIGHT":
Mainboard.SetMotorSpeed(-spd, spd);
break;
case "BACK":
Mainboard.SetMotorSpeed(-spd, -spd);
break;
default:
Mainboard.SetMotorSpeed(0, 0);
break;
}
}
}