public TeamControlModel(Int16 plat1, Int16 plat2, Int16 obs1, Int16 obs2,
Int16 hover, Int16 start, Int16 motor1, Int16 motor2, Int16 frontLim, Int16 backLim)
{
Platform1Led = new LedModel(plat1);
Platform2Led = new LedModel(plat2);
Obstacle1Led = new LedModel(obs1);
Obstacle2Led = new LedModel(obs2);
HoverLed = new LedModel(hover);
StartLed = new LedModel(start);
BackLimSwitch = new SensorModel(backLim);
FrontLimSwitch = new SensorModel(frontLim);
Motor = new MotorModel(motor1, motor2, FrontLimSwitch, BackLimSwitch);
Motor.LimitMode = true;
EnableLimitSwitches = true;
}
//Commands Arduino to change physical motor state to match current motor state values.
//Returns false if communication or motor pins are bad.
public bool SetMotor(MotorModel motor)
{
bool success = false;
if (_comOK && motor.PinNumber1 >= 0 && motor.PinNumber2 >= 0)
{
try
{
success = true;
_session.SetDigitalPin(motor.PinNumber1, motor.In1);
_session.SetDigitalPin(motor.PinNumber2, motor.In2);
}
catch
{
success = false;
_comOK = false;
motor.In1 = false;
motor.In2 = false;
}
}
return(success);
}
private void OnMotorChanged(object sender, PropertyChangedEventArgs e)
{
MotorModel motor = (MotorModel)sender;
SetMotor(motor);
}