void MoveForward(int speed)
{
var message = MindstormCommandService.GetMotorMessage(MindstormComponents.MotorA, speed);
var message2 = MindstormCommandService.GetMotorMessage(MindstormComponents.MotorB, speed - 10);
communicator.WriteMessage(message);
communicator.WriteMessage(message2);
}
void Stop()
{
var message = MindstormCommandService.GetMotorMessage(MindstormComponents.MotorA, 0);
var message2 = MindstormCommandService.GetMotorMessage(MindstormComponents.MotorB, 0);
communicator.WriteMessage(message);
communicator.WriteMessage(message2);
}
void MoveReverse(int speed)
{
MoveForward(speed);
Thread.Sleep(1000);
var message = MindstormCommandService.GetMotorMessage(MindstormComponents.MotorA, 0);
communicator.WriteMessage(message);
Thread.Sleep(1150);
var message2 = MindstormCommandService.GetMotorMessage(MindstormComponents.MotorB, 0);
communicator.WriteMessage(message2);
MoveForward(50);
}
protected override void OnCreate(Bundle bundle)
{
base.OnCreate(bundle);
SetContentView(Resource.Layout.main);
communicator.Connect();
sm = (SensorManager)this.GetSystemService(SensorService);
if (sm.GetSensorList(SensorType.Proximity).Count != 0)
{
s = sm.GetDefaultSensor(SensorType.Proximity);
sm.RegisterListener(this, s, SensorDelay.Fastest);
}
var buttonTestSound = FindViewById <Button>(Resource.Id.ButtonTestSound);
buttonTestSound.Click += (s, e) =>
{
var message = MindstormCommandService.GetToneMessage(3500, 1000);
communicator.WriteMessage(message);
};
var buttonStartMotor = FindViewById <Button>(Resource.Id.ButtonStartMotor);
buttonStartMotor.Click += (s, e) =>
{
var speed = 50;
programRunning = true;
MoveForward(speed);
};
var buttonStopMotor = FindViewById <Button>(Resource.Id.ButtonStopMotor);
buttonStopMotor.Click += (s, e) =>
{
programRunning = false;
Stop();
};
var buttonReverse = FindViewById <Button>(Resource.Id.ButtonReverse);
buttonReverse.Click += (s, e) =>
{
var speed = -50;
MoveReverse(speed);
};
}
void ISensorEventListener.OnSensorChanged(SensorEvent e)
{
e.Sensor = sm.GetDefaultSensor(SensorType.Proximity);
proximityValue = e.Values[0];
Toast.MakeText(this, proximityValue.ToString("0.00"), ToastLength.Short).Show();
if (programRunning)
{
if (proximityValue == 0)
{
sm.UnregisterListener(this);
var message = MindstormCommandService.GetToneMessage(1500, 1500);
communicator.WriteMessage(message);
MoveReverse(-50);
sm.RegisterListener(this, s, SensorDelay.Fastest);
}
}
}
