public static bool mergiParalelPeStanga(QueueEntry qe, EventArgs e)
{
int pd;
switch (state3)
{
case 0:
RealFuncs.goFront(30, 230);
state3 = 1;
break;
case 1:
pd = (int)isLeftParalel();
if (pd == 0)
{
if (funcs.getSensorValue(Sensor.SideRight) < 12)
{
RealFuncs.goFrontRight(30, 200);
}
break;
}
if (pd == 1)
{
RealFuncs.goFrontLeft(30, 220);
state3 = 2;
}
else
{
RealFuncs.goFrontRight(30, 220);
state3 = 2;
}
break;
case 2:
pd = (int)isLeftParalel();
if (pd == 0)
{
RealFuncs.goFront(30, 230);
state3 = 1;
}
break;
}
return(false);
}
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);
}
public static bool test1Entry(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);
if (numaraIesiri)
{
if (eInDreptulUneiIesiri)
{
if (sideRight < 300)
{
iesiriTrecute++;
funcs.Log("iesiriTrecute=" + iesiriTrecute.ToString());
eInDreptulUneiIesiri = false;
}
}
else
{
if (sideRight > 300)
{
eInDreptulUneiIesiri = true;
}
}
}
int ip;
//funcs.Log("st=" + state5.ToString());
switch (state5)
{
case 0:
state5 = 1;
RealFuncs.goFront(30, 250);
break;
case 1:
if (frontLeft < 170 || frontRight < 170)
{
RealFuncs.rotirePeLoc(30, 250, Engines.LeftEngines);
state5 = 2;
}
break;
case 2:
ip = (int)isLeftParalel();
switch (ip)
{
case 0:
RealFuncs.goFront(30, 250);
state5 = 4;
break;
case 1:
RealFuncs.rotirePeLoc(30, 50, Engines.RightEngines);
state5 = 3;
break;
case 2:
RealFuncs.rotirePeLoc(30, 250, Engines.RightEngines);
state5 = 3;
break;
default: break;
}
break;
case 3:
ip = (int)isLeftParalel();
switch (ip)
{
case 0:
RealFuncs.goFront(30, 250);
state5 = 4;
break;
case -1:
RealFuncs.rotirePeLoc(30, 50, Engines.LeftEngines);
state5 = 2;
break;
case -2:
RealFuncs.rotirePeLoc(30, 250, Engines.LeftEngines);
state5 = 2;
break;
default: break;
}
break;
case 4:
numaraIesiri = true;
if (frontLeft < 200 || frontRight < 200)
{
RealFuncs.rotirePeLoc(30, 250, Engines.RightEngines);
state5 = 6;
}
break;
case 5:
ip = (int)isRightParalel();
switch (ip)
{
case 0:
RealFuncs.goFront(30, 250);
state5 = 4;
break;
case -1:
RealFuncs.rotirePeLoc(30, 50, Engines.RightEngines);
state5 = 6;
break;
case -2:
RealFuncs.rotirePeLoc(30, 250, Engines.RightEngines);
state5 = 6;
break;
default: break;
}
break;
case 6:
ip = (int)isRightParalel();
switch (ip)
{
case 0:
RealFuncs.goFront(30, 250);
state5 = 4;
break;
case 1:
RealFuncs.rotirePeLoc(30, 50, Engines.LeftEngines);
state5 = 5;
break;
case 2:
RealFuncs.rotirePeLoc(30, 250, Engines.LeftEngines);
state5 = 5;
break;
default: break;
}
break;
case 7:
if (frontRight > 500)
{
state5 = 8;
}
break;
case 8:
if (frontRight < 700)
{
state5 = 9;
}
break;
case 9:
funcs.Log("lrd=" + lrd.ToString() + "\nfr=" + frontRight.ToString());
if (lrd == -1)
{
lrd = frontRight;
break;
}
if (lrd < frontRight)
{
RealFuncs.goFrontRight(3, 250);
state5 = 10;
}
lrd = frontRight;
break;
}
return(false);
}
public static bool parcareLaterala(QueueEntry qe, EventArgs e)
{
funcs.Log("st=" + state2.ToString());
switch (state2)
{
case 0:
RealFuncs.goFront(30, 200);
state2 = 1;
break;
case 1:
tmp2 = funcs.getSensorValue(Sensor.SideRight);
if (tmp2 < 50)
{
state2 = 2;
}
break;
case 2:
tmp2 = funcs.getSensorValue(Sensor.SideRight);
if (tmp2 > 50)
{
state2 = 3;
RealFuncs.goFrontRight(30, 200);
}
break;
case 3:
tmp2 = funcs.getSensorValue(Sensor.FrontRight);
if (tmp2 < 55)
{
state2 = 4;
RealFuncs.goFrontLeft(30, 250);
}
break;
case 4:
if (isRightParalel(3) == 0)
{
RealFuncs.goFront(30, 175);
state2 = 5;
return(false);
}
break;
case 5:
if (Math.Abs(funcs.getSensorValue(Sensor.FrontLeft) - funcs.getSensorValue(Sensor.FrontRight)) < 10)
{
RealFuncs.StopEngines();
RealFuncs.goBack(1, 150);
return(true);
}
break;
case 6:
break;
default:
break;
}
return(false);
}