/// <summary>
/// This is called when the game should draw itself.
/// </summary>
/// <param name="gameTime">Provides a snapshot of timing values.</param>
protected override void Draw(GameTime gameTime)
{
GraphicsDevice.Clear(Color.CornflowerBlue);
var pleftVel = string.Format("Left: {0:F3}", leftVel / 12.0f);
var prightVel = string.Format("Right: {0:F3}", rightVel / 12.0f);
var tvel = string.Format("Vel: {0:F3}", vel);
var rvel = string.Format("Vel: {0:F3}", rot);
var psonar0 = string.Format("Sonar0: {0:F3}", sonar0.GetDistance());
var psonar1 = string.Format("Sonar1: {0:F3}", sonar1.GetDistance());
var psonar2 = string.Format("Sonar2: {0:F3}", sonar2.GetDistance());
var psonar3 = string.Format("Sonar3: {0:F3}", sonar3.GetDistance());
var psonar4 = string.Format("Sonar4: {0:F3}", sonar4.GetDistance());
var pground0 = string.Format("Ground0: {0:F3}", groundSensor0.GetValue());
var pground1 = string.Format("Ground1: {0:F3}", groundSensor1.GetValue());
var pground2 = string.Format("Ground2: {0:F3}", groundSensor2.GetValue());
// TODO: Add your drawing code here
spriteBatch.Begin();
spriteBatch.Draw(gridTex, Vector2.Zero, Color.White);
//spriteBatch.Draw(squareTex, pos, Color.Red);
spriteBatch.Draw(squareTex, 50 * Vector2.One, lowerLeftBumper.GetState() ? Color.Black : Color.White);
spriteBatch.Draw(squareTex, 120 * Vector2.One, upperLeftBumper.GetState() ? Color.Black : Color.White);
spriteBatch.Draw(squareTex, 190 * Vector2.One, upperRightBumper.GetState() ? Color.Black : Color.White);
spriteBatch.Draw(squareTex, 260 * Vector2.One, lowerRightBumper.GetState() ? Color.Black : Color.White);
spriteBatch.DrawString(spriteFont, pleftVel, new Vector2(0, 200), Color.White);
spriteBatch.DrawString(spriteFont, prightVel, new Vector2(0, 200 + spriteFont.LineSpacing), Color.White);
spriteBatch.DrawString(spriteFont, tvel, new Vector2(0, 200 + 2 * spriteFont.LineSpacing), Color.White);
spriteBatch.DrawString(spriteFont, rvel, new Vector2(0, 200 + 3 * spriteFont.LineSpacing), Color.White);
spriteBatch.DrawString(spriteFont, psonar0, new Vector2(0, 200 + 4 * spriteFont.LineSpacing), Color.White);
spriteBatch.DrawString(spriteFont, psonar1, new Vector2(0, 200 + 5 * spriteFont.LineSpacing), Color.White);
spriteBatch.DrawString(spriteFont, psonar2, new Vector2(0, 200 + 6 * spriteFont.LineSpacing), Color.White);
spriteBatch.DrawString(spriteFont, psonar3, new Vector2(0, 200 + 7 * spriteFont.LineSpacing), Color.White);
spriteBatch.DrawString(spriteFont, psonar4, new Vector2(0, 200 + 8 * spriteFont.LineSpacing), Color.White);
spriteBatch.DrawString(spriteFont, pground0, new Vector2(0, 200 + 9 * spriteFont.LineSpacing), Color.White);
spriteBatch.DrawString(spriteFont, pground1, new Vector2(0, 200 + 10 * spriteFont.LineSpacing), Color.White);
spriteBatch.DrawString(spriteFont, pground2, new Vector2(0, 200 + 11 * spriteFont.LineSpacing), Color.White);
spriteBatch.End();
base.Draw(gameTime);
}
