public static RGBColor[] CountFacelets(Motor a, EV3ColorSensor sensor)
{
RGBColor[] colors = new RGBColor[8];
a.ResetTacho();
for (int count = 0; count < 8;)
if (count == a.GetTachoCount () / 45 % 8)
colors [count++] = sensor.ReadRGB ();
return colors;
}
/*
* This method controls the movements of the robot to scan the facelets
* of any single face of the cube.
*/
public static void BuildFace(Face face, Motor motorA, Motor motorB, EV3ColorSensor sensor)
{
RGBColor[] colors = null;
RGBColor color = null;
Thread count = new Thread (() => colors = CountFacelets (motorA, sensor));
MoveCube.Move (motorB, MoveCube.SensorMid, 15);
color = sensor.ReadRGB ();
MoveCube.Move (motorB, MoveCube.SensorSide, 15);
count.Start ();
while (!count.IsAlive);
WaitHandle handle = motorA.SpeedProfile ((sbyte)100, 0, (uint) 360, 0, true);
handle.WaitOne ();
count.Join ();
MoveCube.Move (motorB, MoveCube.SensorRest, 15);
char colorvalue = ' ';
for (int i = 0; i < 9; i++) {
switch (i) {
case 0:
colorvalue = getColorValue (color);
face.square[1,1] = colorvalue;
break;
case 1:
color = colors[0];
colorvalue = getColorValue (color);
face.square[2,1] = colorvalue;
break;
case 3:
color = colors[2];
colorvalue = getColorValue (color);
face.square[1,2] = colorvalue;
break;
case 5:
color = colors[4];
colorvalue = getColorValue (color);
face.square[0,1] = colorvalue;
break;
case 7:
color = colors[6];
colorvalue = getColorValue (color);
face.square[1,0] = colorvalue;
break;
case 2:
color = colors[1];
colorvalue = getColorValue (color);
face.square[2,2] = colorvalue;
break;
case 4:
color = colors[3];
colorvalue = getColorValue (color);
face.square[0,2] = colorvalue;
break;
case 6:
color = colors[5];
colorvalue = getColorValue (color);
face.square[0,0] = colorvalue;
break;
case 8:
color = colors[7];
colorvalue = getColorValue (color);
face.square[2,0] = colorvalue;
break;
}
Console.WriteLine ("Line: {0} Color: {1} RGB code: {2}", i, colorvalue, color);
}
}
