public static bool paralelParking(QueueEntry qe, EventArgs e) { double frontLeft = RealFuncs.getSensorValue(Sensor.FrontLeft); double frontRight = RealFuncs.getSensorValue(Sensor.FrontRight); double sideLeft = RealFuncs.getSensorValue(Sensor.SideLeft); double sideRight = RealFuncs.getSensorValue(Sensor.SideRight); funcs.Log("stare :" + stare.ToString()); switch (stare) { case -1: RealFuncs.goFront(60, 250); stare = 0; break; case 0: if (sideRight < 100) { stare = 1; } break; case 1: if (sideRight > 200) { RealFuncs.goFrontRight(60, 250); stare = 2; } break; case 2: if (frontRight < 175) { RealFuncs.goFront(60, 175); stare = 3; } break; case 3: if (sideRight < 220) { RealFuncs.rotirePeLoc(10, 175, Engines.RightEngines); stare = 4; } break; case 4: if (sideRight < 80) { stare = 5; } break; case 5: if (doRightParalel()) { stare = 6; RealFuncs.goBackRight(10, 150); distantaParcursa(true); } break; case 6: if (distantaParcursa() > 75) { stare = 7; distantaParcursa(true); RealFuncs.goBackLeft(10, 150); } break; case 7: if (distantaParcursa() > 75) { stare = 8; distantaParcursa(true); RealFuncs.goFrontRight(10, 150); } break; case 8: if (distantaParcursa() > 75) { stare = 9; distantaParcursa(true); RealFuncs.goFrontLeft(10, 150); } break; case 9: if (distantaParcursa() > 75) { stare = 10; distantaParcursa(true); RealFuncs.goFront(10, 50); } break; case 10: if (distantaParcursa() > 15) { stare = 11; RealFuncs.StopEngines(); return(true); } break; } return(false); }