public void AllLightsOff()
 {
     FrontRightLed.Off();
     FrontLeftLed.Off();
     BackRightLed.Off();
     BackLeftLed.Off();
 }
        public RoverRobot(ExpansionPlate expansionPlate, IFrameSource <Image <Rgb24> > camera, RoverRobotConfiguration configuration)
        {
            using var operation = Log.OnEnterAndExit();
            operation.Info("configuring platform ", configuration.LeftMotorPort, configuration.RightMotorPort, configuration.PanMotorPort, configuration.TiltMotorPort);

            ExpansionPlate = expansionPlate ?? throw new ArgumentNullException(nameof(expansionPlate));
            Camera         = camera;
            DashBoard      = new RoverDashboard(expansionPlate.PiTop4Board.Display);

            TiltController = new PanTiltController(
                ExpansionPlate.GetOrCreateServoMotor(configuration.PanMotorPort),
                ExpansionPlate.GetOrCreateServoMotor(configuration.TiltMotorPort)
                );

            MotionComponent = new SteeringMotorController(
                ExpansionPlate.GetOrCreateEncoderMotor(configuration.LeftMotorPort),
                ExpansionPlate.GetOrCreateEncoderMotor(configuration.RightMotorPort)
                );

            FrontRightLed = ExpansionPlate.GetOrCreateLed(DigitalPort.D3, Color.Green);
            FrontLeftLed  = ExpansionPlate.GetOrCreateLed(DigitalPort.D4, Color.Green);

            BackRightLed = ExpansionPlate.GetOrCreateLed(DigitalPort.D0, Color.Red);
            BackLeftLed  = ExpansionPlate.GetOrCreateLed(DigitalPort.D5, Color.Red);

            UltrasoundFront = ExpansionPlate.GetOrCreateUltrasonicSensor(DigitalPort.D7);
            UltrasoundBack  = ExpansionPlate.GetOrCreateUltrasonicSensor(DigitalPort.D6);

            Sound = ExpansionPlate.GetOrCreateSoundSensor(AnaloguePort.A3);

            FrontRightLed.Off();
            FrontLeftLed.Off();
            BackRightLed.Off();
            BackLeftLed.Off();
        }
 public void ToggleAllLights()
 {
     FrontRightLed.Toggle();
     FrontLeftLed.Toggle();
     BackRightLed.Toggle();
     BackLeftLed.Toggle();
 }