private async void DoWork3(object sender, DoWorkEventArgs e)
{
var driver = new TwoMotorsDriver(new Motor(27, 22), new Motor(5, 6));
var ultrasonicDistanceSensor = new UltrasonicDistanceSensor(23, 24);
await WriteLog("Moving forward");
while (_worker2 != null && !_worker2.CancellationPending)
{
driver.MoveForward();
await Task.Delay(200);
var distance = await ultrasonicDistanceSensor.GetDistanceInCmAsync(1000);
if (distance > 35.0)
{
continue;
}
await WriteLog($"Obstacle found at {distance} cm or less. Turning right");
await driver.TurnRightAsync();
await WriteLog("Moving forward");
}
}
private async void DoWork2(object sender, DoWorkEventArgs e)
{
while (_worker2 != null && !_worker2.CancellationPending)
{
await Task.Delay(100);
if (!isMovingForward)
{
continue;
}
var distance = await _ultrasonicDistanceSensor.GetDistanceInCmAsync(1000);
if (distance > 35.0)
{
continue;
}
_twoMotorsDriver.Stop();
}
}
private async void DoWork3(object sender, DoWorkEventArgs e)
{
var driver = new TwoMotorsDriver(new Motor(27, 22), new Motor(5, 6));
var ultrasonicDistanceSensor = new UltrasonicDistanceSensor(23, 24);
await WriteLog("Moving forward");
while (_worker2 != null && !_worker2.CancellationPending)
{
driver.MoveForward();
await Task.Delay(200);
var distance = await ultrasonicDistanceSensor.GetDistanceInCmAsync(1000);
if (distance > 35.0)
continue;
await WriteLog($"Obstacle found at {distance} cm or less. Turning right");
await driver.TurnRightAsync();
await WriteLog("Moving forward");
}
}
