private void CheckButtons()
{
var btn = TryGetCommand().ToButtons();
if (btn == prev)
{
return;
}
var released = ~btn & prev;
var pressed = btn & ~prev;
prev = btn;
if (released != RemoteButton.None)
{
BrickConsole.WriteLine("Remote button released: {0}", released);
queue.Enqueue(() => ButtonsReleased(released));
}
if (pressed != RemoteButton.None)
{
BrickConsole.WriteLine("Remote button pressed: {0}", pressed);
queue.Enqueue(() => ButtonsPressed(pressed));
}
}
public void Stop()
{
vehicle.Off();
BrickConsole.WriteLine("Last move tacho: left={0} right={1}", leftMotor.GetTachoCount(), rightMotor.GetTachoCount());
switch (state)
{
case TankState.Forward:
Position += CalcPositionAfterMove();
break;
case TankState.Backward:
Position -= CalcPositionAfterMove();
break;
case TankState.SpinRight:
Angle += CalcAngleAfterSpin();
break;
case TankState.SpinLeft:
Angle -= CalcAngleAfterSpin();
break;
}
state = TankState.None;
}
private static void Main()
{
BrickConsole.WriteLine("Start!");
var speaker = new Speaker(10);
speaker.Beep();
var tank = new Tank(MotorPort.OutD, MotorPort.OutA);
var irSensorWrapper = new IRSensorLockWrapper(new EV3IRSensor(SensorPort.In2));
var colorSensor = new EV3ColorSensor(SensorPort.In1, ColorMode.Color);
var touchSensor = new EV3TouchSensor(SensorPort.In3);
var buttons = new ButtonEvents();
buttons.EscapePressed += () =>
{
tank.Stop();
BrickConsole.WriteLine("End!");
speaker.Buzz();
Environment.Exit(0);
};
var remote = new RemoteControl(irSensorWrapper, IRChannel.One);
remote.ButtonsReleased += btn =>
{
tank.Stop();
BrickConsole.WriteLine("TankState: {0}", tank);
};
remote.ButtonsPressed += btn =>
{
switch (btn)
{
case RemoteButton.LeftUp:
tank.StartForward(speed);
break;
case RemoteButton.LeftDown:
tank.StartBackward(speed);
break;
case RemoteButton.RightUp:
tank.StartSpinLeft(speed);
break;
case RemoteButton.RightDown:
tank.StartSpinRight(speed);
break;
case RemoteButton.LeftUp | RemoteButton.LeftDown:
BrickConsole.WriteLine("Color: {0}", colorSensor.ReadColor());
break;
case RemoteButton.RightUp | RemoteButton.RightDown:
BrickConsole.WriteLine("TouchSensor.IsPressed: {0}", touchSensor.IsPressed());
break;
case RemoteButton.LeftUp | RemoteButton.RightUp:
BrickConsole.WriteLine("Distance: {0} cm", irSensorWrapper.Do(x => x.ReadDistance()));
break;
case RemoteButton.Beacon:
BrickConsole.WriteLine("Color: {0}", colorSensor.ReadColor());
BrickConsole.WriteLine("Distance: {0} cm", irSensorWrapper.Do(x => x.ReadDistance()));
BrickConsole.WriteLine("TouchSensor.IsPressed: {0}", touchSensor.IsPressed());
break;
}
};
Thread.Sleep(Timeout.Infinite);
}