public static void Main()
{
//Post methods
//THIS SECTION CREATES / INITIALIZES THE SERIAL LOGGER
Debug.Print("Flight computer posted successfully. Beginning INIT.");
//Initialize sensors, etc.
Debug.Print("Starting stopwatch");
Clock.Instance.Start();
//Thread.Sleep(5000);
Debug.Print("Flight computer INIT Complete. Continuing with boot.");
//THIS SECTION INITIALIZES AND STARTS THE MEMORY MONITOR
Debug.Print("Starting memory monitor...");
MemoryMonitor.Instance.Start();
var _motors = new MotorController();
var testPing = new PingUpdater(Pins.GPIO_PIN_A0);
testPing.Start();
var testIR = new IRDistanceUpdater(AnalogChannels.ANALOG_PIN_A1, 25, 100);
testIR.Start();
// Start sensor actions here.
Debug.Print("Flight computer boot successful.");
while (true)
{
Debug.Print("IR: " + RobotState.IRDistance);
Debug.Print("\nPing: " + RobotState.PingDistance);
Thread.Sleep(1000);
var oldSenV = RobotState.LastIRDistance;
var currentSenV = RobotState.IRDistance;
GreenLED.Write(RobotState.CheckReady());
BlueLED.Write(currentSenV >= 1000);
YellowLED.Write(currentSenV >= 2000);
if (currentSenV >= 1000)
{
BlueLED.Write(true);
}
if (Math.Abs(oldSenV - currentSenV) > .01)
{
Debug.Print("SensorValue: " + currentSenV);
RedLED.Write(false);
YellowLED.Write(false);
BlueLED.Write(false);
if (currentSenV >= 1000)
{
BlueLED.Write(true);
}
if (currentSenV >= 2000)
{
YellowLED.Write(true);
}
if (!(currentSenV >= 3000))
{
continue;
}
RedLED.Write(true);
_motors.Halt();
_motors.Backward(255);
Thread.Sleep(100);
if (currentSenV >= 2000)
{
//do nothing
Debug.Print("Too close...");
_motors.Halt();
_motors.Right(255);
}
}
}
}
