private void LegoBrick_BrickChanged(object sender, BrickChangedEventArgs e)
{
if (BrickChanged != null)
{
BrickChanged(this, e);
}
}
static void _brick_BrickChanged(object sender, BrickChangedEventArgs e)
{
foreach (var port in e.Ports)
{
Console.WriteLine(port.Key + " " + port.Value);
}
}
private void Brick_BrickChanged(object sender, BrickChangedEventArgs e)
{
//throw new NotImplementedException();
gyroTextBox.Text = legobot.GyroSensor.SIValue.ToString();
colourTextBox.Text = legobot.ColourSensor.SIValue.ToString();
ultraTextBox.Text = legobot.UltrasonicSensor.SIValue.ToString();
}
/// <summary>
///
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void brick_BrickChanged(object sender, BrickChangedEventArgs e)
{
textBoxReturns.Text = "-----------------------------------------------------------------------" + Environment.NewLine + textBoxReturns.Text;
textBoxReturns.Text += "Sensorwert 1 (One) : " + brick.Ports[InputPort.One].SIValue.ToString() + Environment.NewLine + textBoxReturns.Text;
textBoxReturns.Text += "Sensorwert 2 (Two) : " + brick.Ports[InputPort.Two].SIValue.ToString() + Environment.NewLine + textBoxReturns.Text;
textBoxReturns.Text += "Sensorwert 3 (Three): " + brick.Ports[InputPort.Three].SIValue.ToString() + Environment.NewLine + textBoxReturns.Text;
textBoxReturns.Text += "Sensorwert 4 (Four) : " + brick.Ports[InputPort.Four].SIValue.ToString() + Environment.NewLine + textBoxReturns.Text;
}
private void Brick_BrickChanged(object sender, BrickChangedEventArgs e)
{
//throw new NotImplementedException();
//Console.WriteLine(DateTime.Now);
//Console.WriteLine(DateTime.Now + " + " + DateTime.Now.Millisecond);
sensorStored = brick.Ports[InputPort.Four].SIValue;
notifyObservers((int)brick.Ports[InputPort.Four].SIValue, "realtime");
}
private void _brick_BrickChanged(object sender, BrickChangedEventArgs e)
{
Debug.WriteLine("Brick changed!");
this._distanceMeasured = (int)e.Ports[InputPort.Four].SIValue;
txtDistance.Text = this._distanceMeasured.ToString();
Debug.WriteLine(this._distanceMeasured.ToString());
}
private void _brick_BrickChanged(object sender, BrickChangedEventArgs e)
{
if (Commands.Count <= 0)
{
return;
}
var com = Commands.Dequeue();
com();
}
//Event Fired when the brick changes
private void _brick_BrickChanged(object sender, BrickChangedEventArgs e)
{
float portOneValue = e.Ports[InputPort.One].SIValue;
Debug.WriteLine("Port One Results: " + portOneValue);
//Update the Ui With the Ports Value
UpdateUi("Proximity: " + portOneValue.ToString());
CheckForCollision(portOneValue);
}
public static void EventCalled(object sender, BrickChangedEventArgs e)
{
int[] colorArray = new int[10];
for (int i = 0; i < 10; i++)
{
float color = e.Ports[InputPort.Four].SIValue;
colorArray[0] = Convert.ToInt32(color);
}
Console.WriteLine(Convert.ToString(colorArray));
}
void _brick_BrickChanged(object sender, BrickChangedEventArgs e)
{
MotorA.Update(_brick);
MotorB.Update(_brick);
MotorC.Update(_brick);
MotorD.Update(_brick);
InputOne.Update(_brick);
InputTwo.Update(_brick);
InputThree.Update(_brick);
InputFour.Update(_brick);
}
public void ColorAverage(BrickChangedEventArgs e, Brick brick)
{
colorArray = new int[10];
for (int i = 0; i < 10; i++)
{
float color = e.Ports[InputPort.Four].SIValue;
colorArray[i++] = Convert.ToInt32(color);
}
Console.WriteLine(colorArray);
}
private void brick_BrickChanged(object sender, BrickChangedEventArgs e)
{
_portText.Clear();
foreach (Port port in e.Ports.Values)
{
_portText.AppendFormat("{0}: {1}, {2}, {3}", port.Name, port.Type, port.Mode, port.SIValue);
_portText.AppendLine();
}
_ports.Text = _portText.ToString();
}
private void Brick_BrickChanged1(object sender, BrickChangedEventArgs e)
{
if (BrickManager.Bricks.All(x => x.Brick != sender))
{
return;
}
var brickControler = BrickManager.Bricks.First(x => x.Brick == sender);
var data = (ColorSensorColor)e.Ports[InputPort.One].RawValue;
Console.WriteLine(data);
UpdateColor(brickControler, data);
}
private async void brickChanged(object o, BrickChangedEventArgs e)
{
txtDistance.Text = e.Ports[InputPort.Four].SIValue.ToString();
txtTouch.Text = e.Ports[InputPort.One].SIValue.ToString();
txtColor.Text = ((ColorSensorColor)e.Ports[InputPort.Three].SIValue).ToString();
this.currentcolor = (ColorSensorColor)e.Ports[InputPort.Three].SIValue;
if (this.currentcolor == ColorSensorColor.Blue)
{
await brick.DirectCommand.TurnMotorAtPowerForTimeAsync(OutputPort.B, 100, 500, false);
await brick.DirectCommand.TurnMotorAtPowerForTimeAsync(OutputPort.C, -25, 500, false);
}
}
private void Brick_BrickChanged(object sender, BrickChangedEventArgs e)
{
if (e.Buttons.Down)
{
brick.DirectCommand.TurnMotorAtSpeedAsync(OutputPort.C, 10);
}
else if (e.Buttons.Up)
{
brick.DirectCommand.StopMotorAsync(OutputPort.C, true);
}
else if (e.Ports[InputPort.Two].SIValue == 1)
{
brick.DirectCommand.StopMotorAsync(OutputPort.A, false);
}
}
public void HomeBase(int[] homebase, BrickChangedEventArgs e, Brick brick)
{
DetectColor dc = new DetectColor();
Turn turns = new Turn();
DriveMotors dm = new DriveMotors();
// takes two numbers as a homebase
// reads a color and checks if that value is in the array
int[] arena = { 2, 5, 1, 4, };
int color = dc.ColorDetection(e, brick);
var index = Array.IndexOf(arena, color);
int Left;
switch (index)
{
case 0:
Left = 3;
break;
default:
Left = index - 1;
break;
}
if (homebase.Contains(color))
{
if (homebase.Contains(arena[Left]))
{
turns.Turn90Left(brick);
dm.Drive(brick);
}
else
{
turns.Turn90Right(brick);
}
dm.Drive(brick);
}
else
{
turns.Turn180(brick);
}
dm.Drive(brick);
//HomeBase(dhomebase, sender, e, brick);
}
void brick_BrickChanged(object sender, BrickChangedEventArgs e)
{
// hack to workaround XAML trying to typecast the Port dictionary to something unbindable...
List <KeyValue> temp = new List <KeyValue>();
foreach (KeyValuePair <InputPort, Port> p in e.Ports)
{
temp.Add(new KeyValue {
Key = p.Key, Value = p.Value
});
}
InputPorts.DataContext = temp;
Buttons.DataContext = null;
Buttons.DataContext = e.Buttons;
}
/// <summary>
/// Fires when new data comes from the lego _brick
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private async void Brick_BrickChanged(object sender, BrickChangedEventArgs e)
{
//Console.WriteLine("Brick changed!");
//Console.WriteLine(GetSensorValue());
if (_mainWindow.chckFollow.IsChecked.HasValue && _mainWindow.chckFollow.IsChecked.Value)
{
try
{
//_eegControllerMindWave.Attention
await FollowBlackLine(GetSensorValue(), _eegControllerMindWave.Attention);
}
catch (Exception ex)
{
Console.WriteLine("Error while following line. Included message: {0}", ex.Message);
}
}
}
private static void _brick_BrickChanged(object sender, BrickChangedEventArgs e)
{
// add offset to the measurements
if (process_type == PhysicalProcessType.SEGWAY || process_type == PhysicalProcessType.INVPENDULUM)
{
if (measurement_offset == 0 || measurement_offset > 360 || measurement_offset < -360)
{
measurement_offset = e.Ports[InputPort.One].SIValue;
}
}
EV3measurement = e.Ports[InputPort.One].SIValue - measurement_offset;
Console.WriteLine("Measurement: " + EV3measurement);
// local controller for debugging
//updateLocalPID();
}
async void _lego_BrickChanged(object sender, BrickChangedEventArgs e)
{
try
{
//Only send if >= 2 centimeter change
if (Math.Abs(_distance - (int)e.Ports[InputPort.Two].SIValue) >= 2)
{
_distance = (int)e.Ports[InputPort.Two].SIValue;
//Send the new distance to the SignalRHub
await _hubProxy.Invoke("SendUpdatedSensorData", _distance);
}
}
catch (Exception ex)
{
Debug.WriteLine("exception:" + ex);
}
}
private void _brick_BrickChanged(object sender, BrickChangedEventArgs e)
{
_distanceMeasured = (int)e.Ports[InputPort.Four].SIValue;
//txtDistance.Text = _distanceMeasured.ToString();
_brick.BatchCommand.Initialize(CommandType.DirectNoReply);
_brick.BatchCommand.StopMotor(OutputPort.A, false);
_brick.BatchCommand.StopMotor(OutputPort.D, false);
_brick.BatchCommand.SendCommandAsync();
if (_distanceMeasured <= 30)
{
_brick.DirectCommand.StopMotorAsync(OutputPort.All, true);
//StopMoving();
System.Console.WriteLine("StopMotor");
}
}
void OnBrickChanged(object sender, BrickChangedEventArgs e)
{
Debug.WriteLine("MainWindowcs: change");
try
{
LblSensor1.Content = e.Ports[InputPort.One].Type;
LblValue1.Content = e.Ports[InputPort.One].SIValue;
LblSensor2.Content = e.Ports[InputPort.Two].Type;
LblValue2.Content = e.Ports[InputPort.Two].SIValue;
LblSensor3.Content = e.Ports[InputPort.Three].Type;
LblValue3.Content = e.Ports[InputPort.Three].SIValue;
LblSensor4.Content = e.Ports[InputPort.Four].Type;
LblValue4.Content = e.Ports[InputPort.Four].SIValue;
}
catch (System.Exception ex)
{
Lbl1.Content = "Brick Disconnected";
}
}
public void BrickChanged(object sender, BrickChangedEventArgs e)
{
DetectColor detectcolor = new DetectColor();
DHomeBase dhomebase = new DHomeBase();
DriveMotors drivemotors = new DriveMotors();
Turn turn = new Turn();
DistanceText.Text = e.Ports[InputPort.Two].SIValue.ToString();
ColorText.Text = e.Ports[InputPort.Four].SIValue.ToString();
float distance = e.Ports[InputPort.Two].SIValue;
float color = e.Ports[InputPort.Four].SIValue;
if (color == 1)
{
turn.Turn90Left(brick.brick);
}
else
{
turn.Turn90Right(brick.brick);
}
detectcolor.ColorDetection(e, brick.brick);
if (distance > 10)
{
drivemotors.Stop(brick.brick);
Thread.Sleep(1000);
dhomebase.HomeBase(homebase, e, brick.brick);
}
if (distance <= 6)
{
drivemotors.Stop(brick.brick);
Thread.Sleep(1000);
dhomebase.HomeBase(homebase, e, brick.brick);
}
}
private async void _brick_BrickChanged(object sender, BrickChangedEventArgs e)
{
label2.Text = "Gyroscope Value" + e.Ports[inputPort].SIValue;
if (e.Ports[inputPort].SIValue < 0)
{
_brick.BatchCommand.TurnMotorAtPower(OutputPort.A, 100);
_brick.BatchCommand.TurnMotorAtSpeed(OutputPort.B, 95);
label3.Text = "Go Right";
await _brick.BatchCommand.SendCommandAsync();
}
else if (e.Ports[inputPort].SIValue > 0)
{
_brick.BatchCommand.TurnMotorAtPower(OutputPort.A, 95);
_brick.BatchCommand.TurnMotorAtPower(OutputPort.B, 100);
label3.Text = "Go Left";
await _brick.BatchCommand.SendCommandAsync();
}
else if (e.Ports[inputPort].SIValue == 0)
{
await _brick.DirectCommand.TurnMotorAtPowerAsync(OutputPort.A | OutputPort.B, 100);
label3.Text = "Go Straight";
}
}
private void buttonSensor4_Click(object sender, RoutedEventArgs e)
{
BrickChangedEventArgs aBrickChangedEventArgs = new BrickChangedEventArgs();
textBoxReturns.Text = "Sensorwert 4 (Four): " + brick.Ports[InputPort.Four].SIValue.ToString() + Environment.NewLine + textBoxReturns.Text;
}
void _lego_BrickChanged(object sender, BrickChangedEventArgs e)
{
txtDistance.Text = e.Ports[InputPort.Two].SIValue.ToString();
txtTouch.Text = e.Ports[InputPort.Four].SIValue.ToString();
}
public async static void brick_BrickChanged(object sender, BrickChangedEventArgs e)
{
}
private void Brick_BrickChanged(object sender, BrickChangedEventArgs e)
{
Console.WriteLine("brick changed");
Distance = e.Ports[InputPort.Four].SIValue;
}
private void _brick_BrickChanged(object sender, BrickChangedEventArgs e)
{
Debug.WriteLine("Brick Changed!");
}
static void _brick_BrickChanged(object sender, BrickChangedEventArgs e)
{
System.Console.WriteLine(e.Ports[InputPort.One].SIValue);
}
