public void ChangeColor(SpheroColor color) { var currentTime = DateTime.Now; var deltaTime = currentTime - _lastChangeTime; if (deltaTime.TotalMilliseconds > 100) { _colorLock = false; _lastChangeTime = currentTime; //_robot.SetRGBLED(255, 255, 255); } if (_colorLock) { return; } if (color == SpheroColor.RED) { _robot.SetRGBLED(255, 0, 0); _lastChangeTime = currentTime; _colorLock = true; } else if (color == SpheroColor.GREEN) { _robot.SetRGBLED(0, 255, 0); _lastChangeTime = currentTime; _colorLock = true; } else { //_robot.SetRGBLED(255, 255, 255); _colorLock = false; } }
//! @brief when a robot is connected, get ready to drive! private void OnRobotConnected(object sender, Robot robot) { Debug.WriteLine(string.Format(kSpheroConnected, robot)); //ConnectionToggle.IsOn = true; //ConnectionToggle.OnContent = "Connected"; SpheroConnected = true; m_robot.SetRGBLED(255, 255, 255); SpheroName = string.Format(kSpheroConnected, robot.BluetoothName); m_robot.SensorControl.Hz = 10; m_robot.SensorControl.GyrometerUpdatedEvent += OnGyrometerUpdated; m_robot.SensorControl.AccelerometerUpdatedEvent += OnAccelerometerUpdated; //m_robot.CollisionControl.StartDetectionForWallCollisions(); //m_robot.CollisionControl.CollisionDetectedEvent += OnCollisionDetected; }
//! @brief when a robot is connected, get ready to drive! private void OnRobotConnected(object sender, Robot robot) { SpheroName = string.Format(kSpheroConnected, robot.BluetoothName); Debug.WriteLine(SpheroName); m_robot = (Sphero)robot; ConnectionToggle.IsOn = true; ConnectionToggle.OnContent = "Connected"; SpheroConnected = true; m_robot.SetRGBLED(255, 255, 255); InitializeSensorReading.IsEnabled = true; m_robot.SensorControl.Hz = 15; Debug.WriteLine("SensorControl Hz Set"); //m_robot.CollisionControl.StartDetectionForWallCollisions(); //m_robot.CollisionControl.CollisionDetectedEvent += OnCollisionDetected; }
//Начальное состояние робота. Он зеленый и неподвижно стоит private void SetRobotDefault() { m_robot.SetHeading(0); m_robot.SetRGBLED(0, 255, 0); m_robot.Roll(0, 0); }
//Начальное состояние робота. Он зеленый и неподвижно стоит private void SetGreenColor() { m_robot.SetHeading(0); m_robot.SetBackLED(1.0f); m_robot.SetRGBLED(0, 255, 0); }