public void LoadBeaconDetails(BeaconLocation beacon)
{
if (beacon == null)
{
HostName = "";
PortNumber = 8080;
}
else
{
HostName = beacon.Address.Address.ToString();
PortNumber = beacon.Address.Port;
}
}
static void Carry()
{
LcdConsole.WriteLine("Vracanje do IR beacona...");
ir.Mode = IRMode.Seek;
BeaconLocation beacon = ir.ReadBeaconLocation();
motors.SetSpeed(C.carryTurnSpeed, (short)(C.right * Math.Sign(beacon.Location)));
while (beacon.Location > 5 || beacon.Location < -5)
{
beacon = ir.ReadBeaconLocation();
}
while (beacon.Distance > C.carryDistanceToBeacon)
{
motors.SetSpeed(C.carryForwardSpeed, beacon.Location); // Potreban koeficijent
beacon = ir.ReadBeaconLocation(); // Mozda potrebno Thread.Sleep
}
motors.Brake();
Thread.Sleep(C.motorBrakeSleepTime);
LcdConsole.WriteLine("Rastojanje do IR beacona: {0}", ir.ReadBeaconLocation().Distance.ToString());
}
public static void Main(string[] args)
{
IRChannel[] channels = { IRChannel.One, IRChannel.Two, IRChannel.Three, IRChannel.Four };
int channelIdx = 0;
ManualResetEvent terminateProgram = new ManualResetEvent(false);
var sensor = new EV3IRSensor(SensorPort.In1);
ButtonEvents buts = new ButtonEvents();
LcdConsole.WriteLine("Use IR on port1");
LcdConsole.WriteLine("Up distance");
LcdConsole.WriteLine("Down beacon location");
LcdConsole.WriteLine("Enter read command");
LcdConsole.WriteLine("Left change channel");
LcdConsole.WriteLine("Right read as string");
LcdConsole.WriteLine("Esc. terminate");
buts.EscapePressed += () => {
terminateProgram.Set();
};
buts.UpPressed += () => {
LcdConsole.WriteLine("Distance " + sensor.ReadDistance() + " cm");
};
buts.EnterPressed += () => {
LcdConsole.WriteLine("Remote command " + sensor.ReadRemoteCommand() + " on channel " + sensor.Channel);
};
buts.DownPressed += () => {
BeaconLocation location = sensor.ReadBeaconLocation();
LcdConsole.WriteLine("Beacon location: " + location.Location + " Beacon distance: " + location.Distance + " cm");
};
buts.LeftPressed += () => {
channelIdx = (channelIdx + 1) % channels.Length;
sensor.Channel = channels[channelIdx];
LcdConsole.WriteLine("Channel is set to: " + channels[channelIdx]);
};
buts.RightPressed += () => {
LcdConsole.WriteLine(sensor.ReadAsString());
};
terminateProgram.WaitOne();
}
