//public static void Main(string[] args)
//{
// Configure();
// Task t = Execute();
// t.Wait();
// System.Console.ReadKey();
//}
private async Task Execute()
{
_brick = new Brick(new BluetoothCommunication("EV3"));
_brick.BrickChanged += _brick_BrickChanged;
System.Console.WriteLine("Connecting...");
await _brick.ConnectAsync();
System.Console.WriteLine("Connected... Waiting for Commands...");
await _brick.DirectCommand.PlayToneAsync(0x50, 5000, 500);
//await _brick.SystemCommand.CopyFileAsync("test.rsf", "../prjs/Program/test.rsf");
//await _brick.DirectCommand.PlaySoundAsync(100, "../prjs/Program/test");
while (true)
{
Ev3Command command = PollForQueueMessage();
if (command != null)
{
await ProcessCommandAsync(command);
}
}
}
private async Task GoSlower(Ev3Command command)
{
Console.WriteLine("Moving slower...");
uint distance = 30;
if (!string.IsNullOrWhiteSpace(command.Value))
{
uint.TryParse(command.Value, out distance);
}
if (speed == 10)
{
distance *= 10;
_brick.BatchCommand.Initialize(CommandType.DirectNoReply);
_brick.BatchCommand.SetMotorPolarity(OutputPort.A, Polarity.Forward);
_brick.BatchCommand.SetMotorPolarity(OutputPort.D, Polarity.Forward);
_brick.BatchCommand.StepMotorAtPower(OutputPort.A, 10, distance, false);
_brick.BatchCommand.StepMotorAtPower(OutputPort.D, 10, distance, false);
await _brick.BatchCommand.SendCommandAsync();
}
speed -= 5;
distance *= 1000;
_brick.BatchCommand.Initialize(CommandType.DirectNoReply);
//_brick.BatchCommand.SetMotorPolarity(OutputPort.A, Polarity.Forward);
//_brick.BatchCommand.SetMotorPolarity(OutputPort.D, Polarity.Backward);
_brick.BatchCommand.StepMotorAtSpeed(OutputPort.A, speed, distance, false);
_brick.BatchCommand.StepMotorAtSpeed(OutputPort.D, speed, distance, false);
await _brick.BatchCommand.SendCommandAsync();
}
private async Task FireGun(Ev3Command command)
{
Console.WriteLine("Firing Gun...");
uint distance = 30;
if (!string.IsNullOrWhiteSpace(command.Value))
{
uint.TryParse(command.Value, out distance);
}
distance *= 500;
//do
//{
System.Console.WriteLine(_distanceMeasured);
_brick.BatchCommand.Initialize(CommandType.DirectNoReply);
_brick.BatchCommand.SetMotorPolarity(OutputPort.B, Polarity.Forward);
//_brick.BatchCommand.SetMotorPolarity(OutputPort.C, Polarity.Backward);
_brick.BatchCommand.StepMotorAtSpeed(OutputPort.B, 50, distance, false);
//_brick.BatchCommand.StepMotorAtPower(OutputPort.C, 100, 180, false);
await _brick.BatchCommand.SendCommandAsync();
//}
//while (_distanceMeasured >= 30);
}
private async Task ReturnToCenter(Ev3Command command)
{
Console.WriteLine("Return to center...");
_brick.BatchCommand.Initialize(CommandType.DirectNoReply);
_brick.BatchCommand.SetMotorPolarity(OutputPort.C, Polarity.Backward);
//_brick.BatchCommand.SetMotorPolarity(OutputPort.C, Polarity.Backward);
//_brick.BatchCommand.StepMotorAtSpeed(OutputPort.C, 70, 50, false);
_brick.BatchCommand.StepMotorAtPower(OutputPort.C, 100, 53, false);
//_brick.BatchCommand.StepMotoputPort.C, 100, 180, false);
await _brick.BatchCommand.SendCommandAsync();
}
private async Task MoveLeft(Ev3Command command)
{
Console.WriteLine("Moving Left...");
_brick.BatchCommand.Initialize(CommandType.DirectNoReply);
_brick.BatchCommand.SetMotorPolarity(OutputPort.C, Polarity.Forward);
//_brick.BatchCommand.SetMotorPolarity(OutputPort.C, Polarity.Forward);
//_brick.BatchCommand.StepMotorAtSpeed(OutputPort.C, 100, 50, false);
_brick.BatchCommand.StepMotorAtSpeed(OutputPort.C, 70, 33, false);
//await _brick.SystemCommand.CopyFileAsync("test.rsf", "../prjs/myapp/test.rsf");
//_brick.BatchCommand.PlaySound(100, "../prjs/myapp/test");
//_brick.BatchCommand.StepMotorAtPower(OutputPort.C, 100, 180, false);
await _brick.BatchCommand.SendCommandAsync();
}
private async Task StartEngines(Ev3Command command)
{
Console.WriteLine("Starting Engines...");
uint distance = 30;
if (!string.IsNullOrWhiteSpace(command.Value))
{
uint.TryParse(command.Value, out distance);
}
distance *= 10;
_brick.BatchCommand.Initialize(CommandType.DirectNoReply);
_brick.BatchCommand.SetMotorPolarity(OutputPort.A, Polarity.Forward);
_brick.BatchCommand.SetMotorPolarity(OutputPort.D, Polarity.Forward);
_brick.BatchCommand.StepMotorAtPower(OutputPort.A, 10, distance, false);
_brick.BatchCommand.StepMotorAtPower(OutputPort.D, 10, distance, false);
await _brick.BatchCommand.SendCommandAsync();
}
private async Task MoveForward(Ev3Command command)
{
Console.WriteLine("Moving Forward...");
uint distance = 30;
if (!string.IsNullOrWhiteSpace(command.Value))
{
uint.TryParse(command.Value, out distance);
}
//if(_distanceMeasured <= 30)
//{
// distance = 0;
//}
if (speed == 10)
{
distance *= 1000;
_brick.BatchCommand.Initialize(CommandType.DirectNoReply);
_brick.BatchCommand.SetMotorPolarity(OutputPort.A, Polarity.Forward);
_brick.BatchCommand.SetMotorPolarity(OutputPort.D, Polarity.Forward);
_brick.BatchCommand.StepMotorAtPower(OutputPort.A, 10, distance, false);
_brick.BatchCommand.StepMotorAtPower(OutputPort.D, 10, distance, false);
await _brick.BatchCommand.SendCommandAsync();
speed += 5;
}
distance *= 100;
_brick.BatchCommand.Initialize(CommandType.DirectNoReply);
_brick.BatchCommand.SetMotorPolarity(OutputPort.A, Polarity.Forward);
_brick.BatchCommand.SetMotorPolarity(OutputPort.D, Polarity.Forward);
_brick.BatchCommand.StepMotorAtPower(OutputPort.A, 100, distance, false);
_brick.BatchCommand.StepMotorAtPower(OutputPort.D, 100, distance, false);
await _brick.BatchCommand.SendCommandAsync();
}
private async Task ProcessCommandAsync(Ev3Command command)
{
switch (command.Action)
{
case "start":
await StartEngines(command);
break;
case "engines":
await StartEngines(command);
break;
case "forward":
await MoveForward(command);
break;
case "straight":
await MoveForward(command);
break;
case "ahead":
await MoveForward(command);
break;
case "backward":
await MoveBackward(command);
break;
case "reverse":
await MoveBackward(command);
break;
case "back":
await MoveBackward(command);
break;
case "center":
await ReturnToCenter(command);
break;
case "left":
await MoveLeft(command);
break;
case "right":
await MoveRight(command);
break;
case "stop":
await StopMoving();
break;
case "don't move":
await StopMoving();
break;
case "do not move":
await StopMoving();
break;
case "break":
await StopMoving();
break;
case "fast":
await GoFaster(command);
break;
case "faster":
await GoFaster(command);
break;
case "accelerate":
await GoFaster(command);
break;
case "increase":
await GoFaster(command);
break;
case "slow":
await GoSlower(command);
break;
case "slower":
await GoSlower(command);
break;
case "down":
await GoSlower(command);
break;
case "decrease":
await GoSlower(command);
break;
case "fire":
await FireGun(command);
break;
case "shoot":
await FireGun(command);
break;
case "blast":
await FireGun(command);
break;
// Add more commands here as needed.
default:
break;
}
System.Console.WriteLine("Command executed.");
}
