public Thinker(ComPort port)
{
_port = port;
_port.ReceivedResponce += PortOnReceivedResponce;
//_currentMetaCommand = new ScanMetaCommand();
//_currentMetaCommand = new SimpleMovementMetaCommand();
_currentMetaCommand = new ExplorerMetaCommand();
}
public override void Execute(ComPort port)
{
base.Execute(port, Commands.RangeScan, new byte[] { _startDegree, _endDegree });
}
public override void Execute(ComPort port)
{
base.Execute(port, Commands.Status, new byte[] { _degree });
}
protected void Execute(ComPort port, Commands cmd, byte[] data)
{
port.SendCommand(cmd, data);
Thread.Sleep(Timeout);
}
public virtual void Execute(ComPort port)
{
throw new NotImplementedException();
}
public override void Execute(ComPort port)
{
base.Execute(port, Commands.Move, new byte[] { (byte)MoveDirection.Backwards, 0 });
}
public override void Execute(ComPort port)
{
base.Execute(port, Commands.Move, new byte[] { (byte)_direction, _speed, _degree, _stopAfter });
}