public void input_data(Lego.SensorData sd)
{
return;
if (sd.sensor_number == 1)
{
direction *= -1;
commands.Add(turn_on_motor());
}
else if (sd.sensor_number == 2)
{
commands.Add(turn_off_motor());
}
else if (sd.sensor_number == 3)
{
if (last_color == sd.value)
{
return;
}
last_color = sd.value;
long now_milliseconds = DateTime.Now.Ticks / TimeSpan.TicksPerMillisecond;
long diff = now_milliseconds - kick_milliseconds;
if (diff < 2000)
{
return;
}
if (sd.value == (int)Lego.Color.RED)
{
deferred_commands.Add(new Lego.CommandData(
rotate_360(MOTOR_B),
now_milliseconds + 3300
));
// commands.Add(rotate_360(MOTOR_B));
kick_milliseconds = now_milliseconds;
}
}
}
public static BTResult parse_msg(List <int> msg)
{
int len = msg.Count;
if (len < 2)
{
return(new BTResult("ERROR", null));
}
int m_len = msg[0] + msg[1] * 256;
if (len != m_len + 2)
{
return(new BTResult("ERROR", null));
}
if (m_len == 3 && msg[2] == 2 && msg[3] == 9 && msg[4] == 0)
{
return(new BTResult("VALUE_SENT", null));
}
if (m_len == 9 && msg[2] == 128 && msg[3] == 9 && msg[5] == 5 && msg[10] == 0)
{
int v = 0;
for (int i = 3; i >= 0; i--)
{
v = v << 8;
v += msg[6 + i];
}
Lego.SensorData sd = new Lego.SensorData(v);
return(new BTResult("SENSOR_DATA", sd));
}
return(new BTResult("UNKNOWN", null));
}
public BTResult(string code, Lego.SensorData sensor_data)
{
this.code = code;
this.sensor_data = sensor_data;
}
