/// <summary>
/// This is where all sensors and motors are stopped
/// </summary>
public void DisconnectAll()
{
// Stop sensing
if (LightIntensitySensor.IsSensing())
{
LightIntensitySensor.StopSensing();
}
if (SoundLevelSensor.IsSensing())
{
SoundLevelSensor.StopSensing();
}
if (SoundRatioSensor.IsSensing())
{
SoundRatioSensor.StopSensing();
}
if (UltrasonicSensor.IsSensing())
{
UltrasonicSensor.StopSensing();
}
if (TouchSensor.IsSensing())
{
TouchSensor.StopSensing();
}
//TODO clear sensors?
// Stop behaviors
if (WalkBehavior.IsWalking)
{
WalkBehavior.Stop();
}
// Stop motors
if (MotorTail.IsRunning)
{
MotorTail.Stop();
}
if (MotorRight.IsRunning)
{
MotorRight.Stop();
}
if (MotorLeft.IsRunning)
{
MotorLeft.Stop();
}
System.Threading.Thread.Sleep(1000);
Brick.Disconnect();
IsConnectionStarted = false;
}
public void Forward(float leftSpeed, float rightSpeed)
{
if (leftSpeed >= 0)
{
MotorLeft.Forward(leftSpeed);
}
else
{
MotorLeft.Reverse(Math.Abs(leftSpeed));
}
if (rightSpeed >= 0)
{
MotorRight.Forward(rightSpeed);
}
else
{
MotorRight.Reverse(Math.Abs(rightSpeed));
}
}
public void Forward(float speed)
{
MotorLeft.Forward(speed);
MotorRight.Forward(speed);
}
public void Stop()
{
MotorLeft.Stop();
MotorRight.Stop();
}
public void SpinRight(float speed)
{
MotorLeft.Forward(speed);
MotorRight.Reverse(speed);
}
public void Reverse(float speed)
{
MotorLeft.Reverse(speed);
MotorRight.Reverse(speed);
}