public static bool mergiParalelPeDreapta(QueueEntry qe, EventArgs e)
{
int pd;
switch (state3)
{
case 0:
RealFuncs.goFront(30, 230);
state3 = 1;
break;
case 1:
pd = (int)isRightParalel();
if (pd == 0)
{
if (funcs.getSensorValue(Sensor.SideRight) < 12)
{
RealFuncs.goFrontLeft(30, 200);
}
break;
}
if (pd == 1)
{
RealFuncs.goFrontRight(30, 220);
state3 = 2;
}
else
{
RealFuncs.goFrontLeft(30, 220);
state3 = 2;
}
break;
case 2:
pd = (int)isRightParalel();
if (pd == 0)
{
RealFuncs.goFront(30, 230);
state3 = 1;
}
break;
}
return(false);
}
public static bool paralelParking(QueueEntry qe, EventArgs e)
{
double frontLeft = RealFuncs.getSensorValue(Sensor.FrontLeft);
double frontRight = RealFuncs.getSensorValue(Sensor.FrontRight);
double sideLeft = RealFuncs.getSensorValue(Sensor.SideLeft);
double sideRight = RealFuncs.getSensorValue(Sensor.SideRight);
funcs.Log("stare :" + stare.ToString());
switch (stare)
{
case -1:
RealFuncs.goFront(60, 250);
stare = 0;
break;
case 0:
if (sideRight < 100)
{
stare = 1;
}
break;
case 1:
if (sideRight > 200)
{
RealFuncs.goFrontRight(60, 250);
stare = 2;
}
break;
case 2:
if (frontRight < 175)
{
RealFuncs.goFront(60, 175);
stare = 3;
}
break;
case 3:
if (sideRight < 220)
{
RealFuncs.rotirePeLoc(10, 175, Engines.RightEngines);
stare = 4;
}
break;
case 4:
if (sideRight < 80)
{
stare = 5;
}
break;
case 5:
if (doRightParalel())
{
stare = 6;
RealFuncs.goBackRight(10, 150);
distantaParcursa(true);
}
break;
case 6:
if (distantaParcursa() > 75)
{
stare = 7;
distantaParcursa(true);
RealFuncs.goBackLeft(10, 150);
}
break;
case 7:
if (distantaParcursa() > 75)
{
stare = 8;
distantaParcursa(true);
RealFuncs.goFrontRight(10, 150);
}
break;
case 8:
if (distantaParcursa() > 75)
{
stare = 9;
distantaParcursa(true);
RealFuncs.goFrontLeft(10, 150);
}
break;
case 9:
if (distantaParcursa() > 75)
{
stare = 10;
distantaParcursa(true);
RealFuncs.goFront(10, 50);
}
break;
case 10:
if (distantaParcursa() > 15)
{
stare = 11;
RealFuncs.StopEngines();
return(true);
}
break;
}
return(false);
}
public static bool parcareLaterala(QueueEntry qe, EventArgs e)
{
funcs.Log("st=" + state2.ToString());
switch (state2)
{
case 0:
RealFuncs.goFront(30, 200);
state2 = 1;
break;
case 1:
tmp2 = funcs.getSensorValue(Sensor.SideRight);
if (tmp2 < 50)
{
state2 = 2;
}
break;
case 2:
tmp2 = funcs.getSensorValue(Sensor.SideRight);
if (tmp2 > 50)
{
state2 = 3;
RealFuncs.goFrontRight(30, 200);
}
break;
case 3:
tmp2 = funcs.getSensorValue(Sensor.FrontRight);
if (tmp2 < 55)
{
state2 = 4;
RealFuncs.goFrontLeft(30, 250);
}
break;
case 4:
if (isRightParalel(3) == 0)
{
RealFuncs.goFront(30, 175);
state2 = 5;
return(false);
}
break;
case 5:
if (Math.Abs(funcs.getSensorValue(Sensor.FrontLeft) - funcs.getSensorValue(Sensor.FrontRight)) < 10)
{
RealFuncs.StopEngines();
RealFuncs.goBack(1, 150);
return(true);
}
break;
case 6:
break;
default:
break;
}
return(false);
}