private void ReadSensor()
{
bool detected = Sensor.ObstacleDetected();
textBox.Text += Sensor.ObstacleDetected().ToString() + "\n";
if (detected)
{
RobotMap.Update(CurrentPosition, Sensor.GetMainPosition());
List <Position> sensorPositions = Sensor.GetSensorPositions();
foreach (Position position in sensorPositions)
{
numberControls[position.Y, position.X].Text = RobotMap.Map[position.Y, position.X].ToString();
}
}
}
private Robot(Canvas canvas, Button startButton, int tileSize, Map map, Rectangle[,] mapControls, TextBlock[,] numberControls, TextBox textBox)
{
this.canvas = canvas;
this.tileSize = tileSize;
this.startButton = startButton;
this.mapControls = mapControls;
this.numberControls = numberControls;
this.textBox = textBox;
CreateControl();
Started = false;
Running = false;
animations = new List <Storyboard>();
Sensor = new Sensor(this, map);
Map = map;
RobotMap = new RobotMap(map.Width, map.Height);
}