void USS_Direct(USSDirection dir)
{
if (!nxt.IsMotorControlRunning())
{
nxt.StartMotorControl();
}
switch (dir)
{
case USSDirection.Straight:
if (currentDir == USSDirection.Right)
{
nxt.MotorA = new McNxtMotor();
nxt.MotorA.Run(-100, 90);
}
if (currentDir == USSDirection.Left)
{
nxt.MotorA = new McNxtMotor();
nxt.MotorA.Run(100, 90);
}
currentDir = USSDirection.Straight;
break;
case USSDirection.Right:
if (currentDir == USSDirection.Straight)
{
nxt.MotorA = new McNxtMotor();
nxt.MotorA.Run(100, 90);
}
if (currentDir == USSDirection.Left)
{
nxt.MotorA = new McNxtMotor();
nxt.MotorA.Run(100, 180);
}
currentDir = USSDirection.Right;
break;
case USSDirection.Left:
if (currentDir == USSDirection.Straight)
{
nxt.MotorA = new McNxtMotor();
nxt.MotorA.Run(-100, 90);
}
if (currentDir == USSDirection.Right)
{
nxt.MotorA = new McNxtMotor();
nxt.MotorA.Run(-100, 180);
}
currentDir = USSDirection.Left;
break;
}
System.Threading.Thread.Sleep(900);
}
//Brick connection procedure logic
private void button_connect_Click(object sender, EventArgs e)
{
if (!isConnectedToBrick)
{
byte COMport = byte.Parse(COMportInput.Text);
if (RB_McRXE.Checked)
{
//Create Motor Control NXT Brick and Bluetooth use USB to communicate with it.
if (RB_Bluetooth.Checked)
{
McBrick = new McNxtBrick(NxtCommLinkType.Bluetooth, COMport);
}
//Create Motor Control NXT Brick, and use USB to communicate with it.
if (RB_USB.Checked)
{
brick = new McNxtBrick(NxtCommLinkType.USB, COMport);
}
// Create a Motor Control motor.
McMotorA = new McNxtMotor();
McMotorB = new McNxtMotor();
McMotorC = new McNxtMotor();
//Synched motors
McMotorPair = new McNxtMotorSync(McMotorB, McMotorC);
// Attach it to port A of the NXT brick.
McBrick.MotorA = McMotorA;
McBrick.MotorB = McMotorB;
McBrick.MotorC = McMotorC;
// Connect to the NXT.
McBrick.Connect();
if (!McBrick.IsMotorControlRunning())
{
McBrick.StartMotorControl();
}
motorControlActive = true;
}
else
{
//Create NXT Brick and Bluetooth use USB to communicate with it.
if (RB_Bluetooth.Checked)
{
NxtBrick brick = new NxtBrick(NxtCommLinkType.Bluetooth, COMport);
}
// Create a NXT brick, and use USB to communicate with it.
if (RB_USB.Checked)
{
NxtBrick brick = new NxtBrick(NxtCommLinkType.USB, COMport);
}
// Create a motor.
motorA = new NxtMotor();
motorB = new NxtMotor();
motorC = new NxtMotor();
// Attach it to port A of the NXT brick.
brick.MotorA = motorA;
brick.MotorB = motorB;
brick.MotorC = motorC;
// Connect to the NXT.
brick.Connect();
}
ConnectedText.Visible = true;
isConnectedToBrick = true;
}
}