/// <summary>
/// contains logic to collect food:
/// .) drive a bit back
/// .) lower grappler
/// .) drive a bit forward with rotating grappler-wheel
/// .) rise grappler
/// </summary>
public static void CollectFood()
{
SetTrackSpeed(Constants.DRIVE_BACKWARD_SPEED, Constants.DRIVE_BACKWARD_SPEED);
Thread.Sleep(1500);
TurnOffGrappler();
GrapplerWheelMotor.SetSpeed(Constants.GRAPPLER_WHEEL_SPEED);
SetTrackSpeed(Constants.DRIVE_FORWARD_AFT_BACKWARD_SPEED,
Constants.DRIVE_FORWARD_AFT_BACKWARD_SPEED);
Thread.Sleep(1500);
HaltMotors();
RiseGrappler();
FoodState = FoodState.Carrying;
}
/// <summary>
/// puts down the grappler and opens it, if it's in the air
/// closed
/// </summary>
public static void RealeaseBrickOnMeadow()
{
if (GrapplerPosition == GrapplerPosition.Up &&
FoodState == FoodState.Carrying)
{
SetTrackSpeed(Constants.DRIVE_FORWARD_SPEED, Constants.DRIVE_FORWARD_SPEED);
Thread.Sleep(500);
HaltTracks();
GrapplerWheelMotor.ResetTacho();
GrapplerWheelMotor.SetSpeed(Constants.GRAPPLER_WHEEL_SPEED);
while (Math.Abs(GrapplerWheelMotor.GetTachoCount())
< Constants.GRAPPLER_WHEEL_BOUNDARY)
{
//Robot.Print($"tacho = {GrapplerMotor.GetTachoCount().ToString()}");
}
GrapplerWheelMotor.Off();
FoodState = FoodState.Searching;
}
}
/// <summary>
/// halts the two motors that are responsible for rising/lowering
/// and turning the grappler
/// </summary>
public static void TurnOffGrappler()
{
GrapplerRiserMotor.Off();
GrapplerWheelMotor.Off();
GrapplerPosition = GrapplerPosition.Down;
}