public static bool Parking(QueueEntry qe, EventArgs e)
{
double frontLeft = RealFuncs.getSensorValue(Sensor.FrontLeft);
double frontRight = RealFuncs.getSensorValue(Sensor.FrontRight);
double sideLeft = RealFuncs.getSensorValue(Sensor.SideLeft);
double sideRight = RealFuncs.getSensorValue(Sensor.SideRight);
funcs.Log("stare1 :" + stare1.ToString());
switch (stare1)
{
case 0:
RealFuncs.goFront(60, 250);
stare1 = 1;
break;
case 1:
if (frontLeft < 208)
{
RealFuncs.rotirePeLoc(60, 150, Engines.LeftEngines);
stare1 = 2;
}
break;
case 2:
if (isLeftParalel() == 0)
{
RealFuncs.goFront(60, 250);
stare1 = 3;
}
break;
case 3:
if (frontLeft < 218)
{
RealFuncs.rotirePeLoc(60, 150, Engines.RightEngines);
stare1 = 4;
}
break;
case 4:
if (isRightParalel() == 0)
{
RealFuncs.goFront(60, 250);
stare1 = 5;
}
break;
case 5:
if (frontLeft < 600 && frontLeft > 500)
{
funcs.Log("parcare");
parcariGasite++;
stare1 = 6;
RealFuncs.goFront(60, 250);
}
break;
case 6:
if (frontLeft < 500)
{
stare1 = 7;
}
break;
case 7:
if (frontLeft < 600 && frontLeft > 500)
{
funcs.Log("parcare");
parcariGasite++;
stare1 = 8;
}
break;
case 8:
if (sideLeft > 399)
{
funcs.Log("parcare buna");
parcareBuna--;
if (parcareBuna == 0)
{
stare1 = 96;
}
else
{
stare1 = 10;
}
}
else
{
stare1 = 10;
}
break;
case 9:
stare1 = 99;
break;
case 10:
if (frontLeft < 500)
{
stare1 = 11;
}
break;
case 11:
if (frontLeft < 600 && frontLeft > 500)
{
funcs.Log("parcare");
parcariGasite++;
stare1 = 12;
}
break;
case 12:
if (sideRight > 399)
{
funcs.Log("iesire");
}
if (sideLeft > 399)
{
funcs.Log("parcare buna");
parcareBuna--;
if (parcareBuna == 0)
{
stare1 = 96;
}
else
{
stare1 = 13;
}
}
break;
case 13:
if (frontRight < 660)
{
stare1 = 14;
}
break;
case 14:
if (sideRight > 300)
{
parcareBuna--;
if (parcareBuna == 0)
{
stare1 = 96;
}
else
{
stare1 = 15;
}
}
else
{
stare1 = 15;
}
break;
case 15:
if (frontLeft < 218)
{
RealFuncs.rotirePeLoc(60, 150, Engines.RightEngines);
stare1 = 16;
}
break;
case 16:
if (isRightParalel() == 0)
{
RealFuncs.goFront(10, 250);
stare1 = 17;
}
break;
case 17:
if (sideRight > 300)
{
funcs.Log("iesire 2");
stare1 = 2;
}
break;
case 96:
// if(sideLeft >512 && sideLeft<552)
{
RealFuncs.rotirePeLoc(1, 200, Engines.RightEngines);
stare1 = 97;
}
break;
case 97:
if (frontRight < 300)
{
RealFuncs.goFront(20, 250);
stare1 = 98;
}
break;
case 98:
if (frontRight < 60)
{
stare1 = 99;
}
break;
case 99:
{
RealFuncs.StopEngines();
return(true);
}
break;
default:
break;
}
return(false);
}
private void abortBtn_Click(object sender, RoutedEventArgs e)
{
RealFuncs.StopEngines();
ext.cmdQueue.Clear();
}