private void Run(List <DriveCommand> driveCommands)
{
if (Robot.Drive != null)
{
Robot.Drive.Position = new PositionInfo(0, 0, 0);
}
DriveLog.RepressLog();
DriveLog.CreateLog();
DriveLog.AddLogEntry(DateTime.Now.ToString("dd/MM/yyyy-hh:mm:ss.fff") + ";" + Robot.Drive.DriveInfo.Position.X.ToString() + ";" + Robot.Drive.DriveInfo.Position.Y.ToString());
foreach (DriveCommand dc in driveCommands)
{
Console.WriteLine("Befehl: " + dc.ToString());
dc.Run();
}
DriveLog.CloseLog();
this.onRobotDone(new EventArgs());
}
public static DriveCommand CreateDriveCommand(string commandCSV, Robot robot, DriveLog driveLog, float accleration, float speed)
{
var driveCommand = new DriveCommand();
driveCommand.Robot = robot;
driveCommand.DriveLog = driveLog;
driveCommand.Acceleration = accleration;
driveCommand.Speed = speed;
var values = commandCSV.Split(';');
var commandName = values[0];
switch (commandName)
{
case "TrackLine":
driveCommand.DriveCommandTyp = DriveCommandTyp.TrackLine;
driveCommand.ValueL = float.Parse(values[1]);
break;
case "TrackTurnLeft":
driveCommand.DriveCommandTyp = DriveCommandTyp.TrackTurnLeft;
driveCommand.ValueA = Convert.ToInt32(values[1]);
break;
case "TrackTurnRight":
driveCommand.DriveCommandTyp = DriveCommandTyp.TrackTurnRight;
driveCommand.ValueA = Convert.ToInt32(values[1]) * -1;
break;
case "TrackArcLeft":
driveCommand.DriveCommandTyp = DriveCommandTyp.TrackArcLeft;
driveCommand.ValueA = Convert.ToInt32(values[2]);
driveCommand.ValueL = float.Parse(values[1]);
break;
case "TrackArcRight":
driveCommand.DriveCommandTyp = DriveCommandTyp.TrackArcRight;
driveCommand.ValueA = Convert.ToInt32(values[2]);
driveCommand.ValueL = float.Parse(values[1]);
break;
}
return(driveCommand);
}
