private bool ProcessAction(string requestPath, NameValueCollection parameters) { try { switch (requestPath) { case "/motor/forward": _vehiclePrecise.Forward(Convert.ToSByte(parameters.Get("speed")), Convert.ToUInt32(parameters.Get("steps"))); return(true); case "/motor/backward": _vehiclePrecise.Backward(Convert.ToSByte(parameters.Get("speed")), Convert.ToUInt32(parameters.Get("steps"))); return(true); case "/motor/left": _vehicle.SpinLeft(Convert.ToSByte(parameters.Get("speed")), Convert.ToUInt32(parameters.Get("degrees")), true); return(true); case "/motor/right": _vehicle.SpinRight(Convert.ToSByte(parameters.Get("speed")), Convert.ToUInt32(parameters.Get("degrees")), true); return(true); case "/motor/brake": _vehicle.Brake(); return(true); case "/motor/leftforward": _vehicle.TurnLeftForward(Convert.ToSByte(parameters.Get("speed")), Convert.ToSByte(parameters.Get("turnPrecent"))); Thread.Sleep(Convert.ToInt32(parameters.Get("delay"))); _vehicle.Brake(); return(true); case "/motor/leftbackward": _vehicle.TurnLeftReverse(Convert.ToSByte(parameters.Get("speed")), Convert.ToSByte(parameters.Get("turnPrecent"))); Thread.Sleep(Convert.ToInt32(parameters.Get("delay"))); _vehicle.Brake(); return(true); case "/motor/rightforward": _vehicle.TurnRightForward(Convert.ToSByte(parameters.Get("speed")), Convert.ToSByte(parameters.Get("turnPrecent"))); Thread.Sleep(Convert.ToInt32(parameters.Get("delay"))); _vehicle.Brake(); return(true); case "/motor/rightbackward": _vehicle.TurnRightReverse(Convert.ToSByte(parameters.Get("speed")), Convert.ToSByte(parameters.Get("turnPrecent"))); Thread.Sleep(Convert.ToInt32(parameters.Get("delay"))); _vehicle.Brake(); return(true); case "/hefvork/reset": _hefVork.Reset(); return(true); case "/hefvork/fullyDown": _hefVork.MoveDown(Convert.ToInt32(parameters.Get("precent"))); return(true); case "/hefvork/down": _hefVork.MoveDown(Convert.ToInt32(parameters.Get("precent"))); return(true); case "/hefvork/up": _hefVork.MoveUp(Convert.ToInt32(parameters.Get("precent"))); return(true); } } catch (Exception e) { MonoBrickFirmware.Display.LcdConsole.WriteLine(e.Message); } return(false); }
public void Step1() { _hefVork.Reset(); _hefVork.MoveDown(100); }