//private DispatcherTimer timer;
private void TrackerSensor_InterruptHandler(object sender, TrackingSensorEventArgs e)
{
//timer = new DispatcherTimer();
//timer.Interval = TimeSpan.FromMilliseconds(500);
//timer.Tick += Timer_Tick;
//timer.Start();
System.Diagnostics.Debug.WriteLine("*************************** trackersensor_interrupthandler **************************** ");
var tracker = sender as ITrackingSensor;
switch (tracker.PinNumber)
{
case 4:
// todo: turn leftforward hard
//if(status1 == trackerSensor1.DetectStatus())
System.Diagnostics.Debug.WriteLine("turn left");
break;
case 6:
// todo: turn leftforward hard
System.Diagnostics.Debug.WriteLine("turn leftforward");
break;
case 22:
// todo: slowforward
System.Diagnostics.Debug.WriteLine("slowforward");
break;
case 23:
// todo: turn rightforward hard
System.Diagnostics.Debug.WriteLine("turn rightforward");
break;
case 27:
// todo: turn right hard
System.Diagnostics.Debug.WriteLine("turn right");
break;
default:
System.Diagnostics.Debug.WriteLine("forward");
break;
}
System.Diagnostics.Debug.WriteLine("track sensor " + tracker.PinNumber + ", " + e.Status);
}
private void TrackerSensor_InterruptHandler(object sender, TrackingSensorEventArgs e)
{
System.Diagnostics.Debug.WriteLine(Environment.CurrentManagedThreadId);
//timer = new DispatcherTimer();
//timer.Interval = TimeSpan.FromMilliseconds(500);
//timer.Tick += Timer_Tick;
//timer.Start();
//System.Diagnostics.Debug.WriteLine("*************************** trackersensor_interrupthandler **************************** ");
var tracker = sender as ITrackingSensor;
switch (tracker.PinNumber)
{
case 4:
// todo: turn leftforward hard
//if(status1 == trackersensor1.detectstatus())
//system.diagnostics.debug.writeline("turn left");
if (TrackingSensorStatus.Active == e.Status)
{
fLLFS = true;
}
else if (TrackingSensorStatus.Inactive == e.Status)
{
fLLFS = false;
}
break;
case 6:
// todo: turn leftforward hard
//system.diagnostics.debug.writeline("turn leftforward");
if (TrackingSensorStatus.Active == e.Status)
{
fLRFS = true;
}
else if (TrackingSensorStatus.Inactive == e.Status)
{
fLRFS = false;
}
break;
case 22:
// todo: slowforward
//system.diagnostics.debug.writeline("slowforward");
if (TrackingSensorStatus.Active == e.Status)
{
fMFS = true;
}
else if (TrackingSensorStatus.Inactive == e.Status)
{
fMFS = false;
}
break;
case 23:
// todo: turn rightforward hard
//system.diagnostics.debug.writeline("turn rightforward");
if (TrackingSensorStatus.Active == e.Status)
{
fRLFS = true;
}
else if (TrackingSensorStatus.Inactive == e.Status)
{
fRLFS = false;
}
break;
case 27:
// todo: turn right hard
//system.diagnostics.debug.writeline("turn right");
if (TrackingSensorStatus.Active == e.Status)
{
fRRFS = true;
}
else if (TrackingSensorStatus.Inactive == e.Status)
{
fRRFS = false;
}
break;
default:
//system.diagnostics.debug.writeline("stop");
fLLFS = false;
fLRFS = false;
fMFS = false;
fRLFS = false;
fRRFS = false;
break;
}
System.Diagnostics.Debug.WriteLine("track sensor " + tracker.PinNumber + ", " + e.Status);
//Task.Delay(100).Wait();
//if (tracker.DetectStatus == Active)
//{
//}
}
private void TrackerSensor_InterruptHandler(object sender, TrackingSensorEventArgs e)
{
System.Diagnostics.Debug.WriteLine(Environment.CurrentManagedThreadId);
// Save previous state
prevState = currState;
//timer = new DispatcherTimer();
//timer.Interval = TimeSpan.FromMilliseconds(500);
//timer.Tick += Timer_Tick;
//timer.Start();
//System.Diagnostics.Debug.WriteLine("*************************** trackersensor_interrupthandler **************************** ");
var tracker = sender as ITrackingSensor;
switch (tracker.PinNumber)
{
case 4:
// todo: turn leftforward hard
//if(status1 == trackersensor1.detectstatus())
//system.diagnostics.debug.writeline("turn left");
if (TrackingSensorStatus.Active == e.Status)
{
fLLFS = true;
}
else if (TrackingSensorStatus.Inactive == e.Status)
{
fLLFS = false;
}
break;
case 6:
// todo: turn leftforward hard
//system.diagnostics.debug.writeline("turn leftforward");
if (TrackingSensorStatus.Active == e.Status)
{
fLRFS = true;
}
else if (TrackingSensorStatus.Inactive == e.Status)
{
fLRFS = false;
}
break;
// TODO: currState = AlphaBotState.State5;
case 22:
// todo: slowforward
//system.diagnostics.debug.writeline("slowforward");
if (TrackingSensorStatus.Active == e.Status)
{
fMFS = true;
}
else if (TrackingSensorStatus.Inactive == e.Status)
{
fMFS = false;
}
break;
// TODO: currState = AlphaBotState.State5;
case 23:
// todo: turn rightforward hard
//system.diagnostics.debug.writeline("turn rightforward");
if (TrackingSensorStatus.Active == e.Status)
{
fRLFS = true;
}
else if (TrackingSensorStatus.Inactive == e.Status)
{
fRLFS = false;
}
break;
// TODO: currState = AlphaBotState.State5;
case 27:
// todo: turn right hard
//system.diagnostics.debug.writeline("turn right");
if (TrackingSensorStatus.Active == e.Status)
{
fRRFS = true;
}
else if (TrackingSensorStatus.Inactive == e.Status)
{
fRRFS = false;
}
break;
// TODO: currState = AlphaBotState.State5;
default:
//system.diagnostics.debug.writeline("stop");
fLLFS = false;
fLRFS = false;
fMFS = false;
fRLFS = false;
fRRFS = false;
break;
}
// State Machine
switch (currState)
{
case AlphaBotState.State1:
if (prevState == AlphaBotState.State6)
{
LeftMotor.TurnLeft();
}
else if (prevState == AlphaBotState.State2)
{
RightMotor.TurnLeft();
}
else
{
Fault();
}
break;
case AlphaBotState.State2:
if (prevState == AlphaBotState.State6)
{
LeftMotor.TurnLeft();
}
else if (prevState == AlphaBotState.State2)
{
RightMotor.TurnLeft();
}
else
{
Fault();
}
break;
case AlphaBotState.State3:
if (prevState == AlphaBotState.State6)
{
LeftMotor.TurnLeft();
}
else if (prevState == AlphaBotState.State2)
{
RightMotor.TurnLeft();
}
else
{
Fault();
}
break;
case AlphaBotState.State4:
if (prevState == AlphaBotState.State6)
{
LeftMotor.TurnLeft();
}
else if (prevState == AlphaBotState.State2)
{
RightMotor.TurnLeft();
}
else
{
Fault();
}
break;
case AlphaBotState.State5:
if (prevState == AlphaBotState.State6)
{
LeftMotor.TurnLeft();
}
else if (prevState == AlphaBotState.State2)
{
RightMotor.TurnLeft();
}
else
{
Fault();
}
break;
case AlphaBotState.State6:
if (prevState == AlphaBotState.State6)
{
LeftMotor.TurnLeft();
}
else if (prevState == AlphaBotState.State2)
{
RightMotor.TurnLeft();
}
else
{
Fault();
}
break;
default:
Fault();
break;
}
System.Diagnostics.Debug.WriteLine("track sensor " + tracker.PinNumber + ", " + e.Status);
}
