/// <summary>
/// Repeatedly checks the state of the switch and resets it necessary
/// </summary>
private static void MainLoop(Motor motor)
{
var touchSensor = new TouchSensor(SensorPort.In1);
while (true) {
// there are a few states that the switch and the arm can be in
// our default is the arm down, and the switch off
// if someone flips the switch, we'll move our arm up until it completes its motion
// at that point, the switch will be off again and we'll move the arm back
// Our "switch" is off when the touch sensor is pressed (inverse)
var switchStatus = !touchSensor.IsPressed ();
// When our switch is on, we need to turn it back off
if (switchStatus) {
// if the motor hasn't moved backwards to push the switch off, we'll do that
if (motor.GetTachoCount () > -120) {
// LcdConsole.WriteLine ("(On) Extending arm");
motor.On (-20);
System.Threading.Thread.Sleep (50);
} else { // if it's moved all the way back, stop pushing it
// LcdConsole.WriteLine ("(On) Arm fully extended");
motor.Off ();
}
} else { // When it's off, we're happy
// if the arm isn't fully retracted, it's time to put it back to zero
if (motor.GetTachoCount () < -20) {
// LcdConsole.WriteLine ("(Off) Reset the arm");
motor.On (20);
System.Threading.Thread.Sleep (200);
} else { // if it is, we're done
// LcdConsole.WriteLine ("(Off) Arm fully reset");
motor.Off ();
}
}
if (switchStatus != PreviouslySwitched && !PreviouslySwitched) {
Action<string> foo = delegate(string x) {
HttpWebRequest request = (HttpWebRequest)WebRequest.Create ("http://crappychatws.azurewebsites.net/api/lego");
request.Proxy = null;
request.GetResponse ();
LcdConsole.WriteLine(x);
};
foo.BeginInvoke ("Someone flipped my switch >_<", null, null);
}
PreviouslySwitched = switchStatus;
}
}
public static void switchMode()
{
Motor motorSwitch = new Motor(MotorPort.OutA);
if (extensionMode) {
LcdConsole.WriteLine ("Switching to height adjustment");
motorSwitch.On (30, 1550, true);
extensionMode = false;
} else {
LcdConsole.WriteLine ("Switching to extension mode");
motorSwitch.On (-30, 1500, true);
extensionMode = true;
}
motorSwitch.Off ();
}
public static void Main(string[] args)
{
Console.WriteLine ("Resetting the motors");
TouchSensor ts = new TouchSensor(SensorPort.In2);
Motor motorFwd = new Motor(MotorPort.OutB);
Motor motorTurn = new Motor(MotorPort.OutC);
Motor motorSwitch = new Motor(MotorPort.OutA);
Motor motorArm = new Motor(MotorPort.OutD);
motorArm.On (-60);
ButtonEvents buts = new ButtonEvents();
bool keepGoing = true;
while (keepGoing) {
buts.EscapePressed += () => {
keepGoing = false;
};
if (ts.IsPressed ()) {
keepGoing = false;
}
}
motorArm.Off ();
switchMode ();
keepGoing = true;
TouchSensor ts2 = new TouchSensor(SensorPort.In4);
motorArm.On (-60);
while (keepGoing) {
buts.EscapePressed += () => {
keepGoing = false;
};
if (ts2.IsPressed ()) {
keepGoing = false;
}
}
motorArm.Off ();
switchMode ();
motorArm.ResetTacho ();
motorFwd.ResetTacho ();
motorSwitch.ResetTacho ();
motorTurn.ResetTacho ();
}
/// <summary>
/// Resets the useless arm to its initial location (down)
/// </summary>
private static void ResetArmLocation(Motor motor)
{
LcdConsole.WriteLine ("Resetting the arm");
motor.On (20);
// there is a ramp up time for the motor. if the speed is checked
// to fast then it will still be zero
System.Threading.Thread.Sleep (200);
// we'll be using the tachometer to track rotations so lets reset it
motor.ResetTacho ();
System.Threading.Thread.Sleep (100);
while (motor.GetSpeed() > 0) {
// just keeps us from moving on until the arm is fully reset
// hacky I know
}
LcdConsole.WriteLine ("Arm reset");
motor.Off();
}