private async void DoWork3(object sender, DoWorkEventArgs e)
{
var driver = new TwoMotorsDriver(new Motor(27, 22), new Motor(5, 6));
var ultrasonicDistanceSensor = new UltrasonicDistanceSensor(23, 24);
await WriteLog("Moving forward");
while (_worker2 != null && !_worker2.CancellationPending)
{
driver.MoveForward();
await Task.Delay(200);
var distance = await ultrasonicDistanceSensor.GetDistanceInCmAsync(1000);
if (distance > 35.0)
{
continue;
}
await WriteLog($"Obstacle found at {distance} cm or less. Turning right");
await driver.TurnRightAsync();
await WriteLog("Moving forward");
}
}
private async Task ProcessMessage(string message)
{
try
{
if (string.IsNullOrWhiteSpace(message))
{
return;
}
var json = JsonObject.Parse(message);
var highestInent = GetHighestInent(json);
if (string.IsNullOrWhiteSpace(highestInent))
{
return;
}
switch (highestInent.ToLower())
{
case "stop":
_twoMotorsDriver.Stop();
_isMovingForward = false;
break;
case "moveforward":
_twoMotorsDriver.MoveForward();
_isMovingForward = true;
break;
case "movebackward":
_twoMotorsDriver.MoveBackward();
_isMovingForward = false;
break;
case "turn":
var direction = GetHighestEntity(json);
if (!string.IsNullOrWhiteSpace(direction))
{
if (direction == "right")
{
await _twoMotorsDriver.TurnRightAsync();
}
else
{
await _twoMotorsDriver.TurnLeftAsync();
}
}
_isMovingForward = false;
break;
}
}
catch (Exception ex)
{
await WriteLog(ex.Message);
}
}
private async void DoWork(object sender, DoWorkEventArgs e)
{
while (_worker != null && !_worker.CancellationPending)
{
var result = await ServiceBusHelper.ReceiveAndDeleteMessage();
switch (result)
{
case "SMR":
await _uln2003Driver.TurnAsync(90, TurnDirection.Right);
break;
case "SML":
await _uln2003Driver.TurnAsync(90, TurnDirection.Left);
break;
case "F":
_twoMotorsDriver.MoveForward();
isMovingForward = true;
break;
case "S":
_twoMotorsDriver.Stop();
isMovingForward = false;
break;
case "R":
await _twoMotorsDriver.TurnRightAsync();
isMovingForward = false;
break;
case "L":
await _twoMotorsDriver.TurnLeftAsync();
isMovingForward = false;
break;
case "B":
_twoMotorsDriver.MoveBackward();
isMovingForward = false;
break;
case "TR":
await _twoMotorsDriver.TurnRightAsync(45);
isMovingForward = false;
break;
case "TL":
await _twoMotorsDriver.TurnLeftAsync(45);
isMovingForward = false;
break;
case "BR":
await _twoMotorsDriver.TurnRightAsync(100);
isMovingForward = false;
break;
case "BL":
await _twoMotorsDriver.TurnLeftAsync(100);
isMovingForward = false;
break;
}
await Task.Delay(1000);
}
}
private async void DoWork3(object sender, DoWorkEventArgs e)
{
var driver = new TwoMotorsDriver(new Motor(27, 22), new Motor(5, 6));
var ultrasonicDistanceSensor = new UltrasonicDistanceSensor(23, 24);
await WriteLog("Moving forward");
while (_worker2 != null && !_worker2.CancellationPending)
{
driver.MoveForward();
await Task.Delay(200);
var distance = await ultrasonicDistanceSensor.GetDistanceInCmAsync(1000);
if (distance > 35.0)
continue;
await WriteLog($"Obstacle found at {distance} cm or less. Turning right");
await driver.TurnRightAsync();
await WriteLog("Moving forward");
}
}
