public static void Main(string[] args)
{
InfraredSensor s = new InfraredSensor(Inputs.INPUT_4);
var driveService1 = new DriveService(Outputs.OUTPUT_A, Outputs.OUTPUT_D);
var driveService2 = new DriveService(Outputs.OUTPUT_B, Outputs.OUTPUT_C);
s.SetIrRemote();
while (true)
{
Console.WriteLine("Sensor value: " + s.GetInt());
Thread.Sleep(100);
if (Console.KeyAvailable)
{
var key = Console.ReadKey();
if (key.Key == ConsoleKey.Escape)
{
break;
}
}
int value0 = s.GetInt(0);
DriveState driveState1 = new DriveState(value0);
driveService1.Drive(driveState1);
int value1 = s.GetInt(1);
DriveState driveState2 = new DriveState(value1);
driveService2.Drive(driveState2);
}
}
public DriveService(string rightMotorPort, string leftMotorPort)
{
this.DriveState = new DriveState(0);
this.rightMotor = new LargeMotor(rightMotorPort);
this.leftMotor = new LargeMotor(leftMotorPort);
if (!rightMotor.Connected)
{
this.rightMotor = new MediumMotor(rightMotorPort);
}
if (!leftMotor.Connected)
{
this.leftMotor = new MediumMotor(leftMotorPort);
}
if (rightMotor.Connected)
{
rightMotor.StopCommand = Motor.StopCommandCoast;
}
if (leftMotor.Connected)
{
leftMotor.StopCommand = Motor.StopCommandCoast;
}
}
internal void Drive(DriveState driveState)
{
if (driveState.LeftMotor != DriveState.LeftMotor)
{
Apply(leftMotor, driveState.LeftMotor);
}
if (driveState.RightMotor != DriveState.RightMotor)
{
Apply(rightMotor, driveState.RightMotor);
}
DriveState = driveState;
}
