void distanceSensor_OnPolled(NxtPollable polledItem)
{
var distanceSensor = (NxtUltrasonicSensor) polledItem;
var distance = distanceSensor.DistanceCm;
if (distance < _thresholdDistanceCm)
{
if (!_blocked)
{
_blocked = true;
Console.WriteLine("Obstacle Encountered {0}", distance);
if (OnObstacleEncountered != null)
{
OnObstacleEncountered.Invoke(distanceSensor, new EventArgs());
}
}
}
else
{
if (_blocked)
{
_blocked = false;
Console.WriteLine("Obstacle Cleared {0}", distance);
if (OnObstacleCleared != null)
{
OnObstacleCleared.Invoke(distanceSensor, new EventArgs());
}
}
}
}
static void OnWithinThreshold(NxtPollable e)
{
Console.WriteLine("Obstacle in {0} cm", ((NxtUltrasonicSensor)e).DistanceCm);
Reverse();
}
static void sonar_OnPolled(NxtPollable e)
{
//Console.WriteLine(((NxtUltrasonicSensor)e).DistanceCm);
}
static void sound_OnPolled(NxtPollable e)
{
//Console.WriteLine(((NxtSoundSensor)e).Intensity);
}
