private void _brick_BrickChanged(object sender, BrickChangedEventArgs e)
{
Debug.WriteLine("Brick changed!");
this._distanceMeasured = (int)e.Ports[InputPort.Four].SIValue;
txtDistance.Text = this._distanceMeasured.ToString();
Debug.WriteLine(this._distanceMeasured.ToString());
}
//stuff that happen every time the sensor values change
private void _brick_BrickChanged(object sender, BrickChangedEventArgs e)
{
var buttonpressed = _brick.Ports[InputPort.One].SIValue;
var xcoordinate = _brick.Ports[InputPort.A].SIValue;
var ycoordinate = _brick.Ports[InputPort.B].SIValue;
//create comma sperated list of data
string LogValues = buttonpressed.ToString() + "," + xcoordinate.ToString() +","+ ycoordinate.ToString();
//add to list
LogList.Add(LogValues);
}
void brick_BrickChanged(object sender, BrickChangedEventArgs e)
{
// hack to workaround XAML trying to typecast the Port dictionary to something unbindable...
List<KeyValue> temp = new List<KeyValue>();
foreach(KeyValuePair<InputPort, Port> p in e.Ports)
temp.Add(new KeyValue { Key = p.Key, Value = p.Value });
InputPorts.DataContext = temp;
Buttons.DataContext = null;
Buttons.DataContext = e.Buttons;
}
void _brick_BrickChanged(object sender, BrickChangedEventArgs e)
{
MotorA.Update(_brick);
MotorB.Update(_brick);
MotorC.Update(_brick);
MotorD.Update(_brick);
InputOne.Update(_brick);
InputTwo.Update(_brick);
InputThree.Update(_brick);
InputFour.Update(_brick);
}
private void OnBrickChanged(BrickChangedEventArgs e)
{
EventHandler <BrickChangedEventArgs> handler = BrickChanged;
if (handler != null)
{
if (_context == SynchronizationContext.Current)
{
handler(this, e);
}
else
{
_context.Post(delegate { handler(this, e); }, null);
}
}
}
private void _brick_BrickChanged(object sender, BrickChangedEventArgs e)
{
string rawIrValue = e.Ports[InputPort.One].SIValue.ToString();
int iButton;
if (Int32.TryParse(rawIrValue, out iButton))
{
_data.ActiveButton = iButton;
}
string rawUsValue = e.Ports[InputPort.Two].SIValue.ToString();
int iDistance;
if (Int32.TryParse(rawUsValue, out iDistance))
{
_data.UltrasonicSensorData = iDistance;
}
string rawColorValue = e.Ports[InputPort.Three].SIValue.ToString();
int iColor;
if (Int32.TryParse(rawColorValue, out iColor))
{
_data.ColorSensorData = iColor;
}
string rawGyroValue = e.Ports[InputPort.Four].SIValue.ToString();
int iGyro;
if (Int32.TryParse(rawGyroValue, out iGyro))
{
if(!_gyroOffsetInit)
{
_gyroOffsetInit = true;
_gyroOffset = iGyro;
}
_data.Angle = iGyro - _gyroOffset;
}
string rawTachoValue = e.Ports[_driveSensorPortLeft].SIValue.ToString();
int iTacho;
if (Int32.TryParse(rawTachoValue, out iTacho))
{
_data.TachoLeftWheel = iTacho;
}
}
void _brick_BrickChanged(object sender, BrickChangedEventArgs e)
{
double x, y;
int density = 240;
_sensorMotorPos = e.Ports[InputPort.A].SIValue;
_infraSensor = e.Ports[InputPort.Three].SIValue;
_ultraSensor = e.Ports[InputPort.Four].SIValue;
e.Ports[InputPort.Four].SetMode(1);
txtInfra.Text = "Infra: " + _infraSensor;
txtUltra.Text = "Ultra: " + _ultraSensor;
txtMotor.Text = "Motor: " + _sensorMotorPos;
if (_scan)
{
if (_scanEdge)
{
_brick.DirectCommand.StepMotorAtSpeedAsync(OutputPort.A, 25, 10, true);
if (_sensorMotorPos >= _sensorStartPos + 80)
_scanEdge = false;
}
else
{
_brick.DirectCommand.StepMotorAtSpeedAsync(OutputPort.A, -30, 10, true);
if (_sensorMotorPos <= _sensorStartPos - 80)
_scanEdge = true;
}
DrawLine(
new SensorMeasuremntDisplay(_sensorMotorPos, _infraSensor, density).x,
new SensorMeasuremntDisplay(_sensorMotorPos, _infraSensor, density).y,
canvInfra);
if (_ultraSensor != 255)
{
DrawLine(
new SensorMeasuremntDisplay(_sensorMotorPos, _ultraSensor, density).x,
new SensorMeasuremntDisplay(_sensorMotorPos, _ultraSensor, density).y,
canvUltra);
}
}
}
private void Brick_BrickChanged(object sender, BrickChangedEventArgs e)
{
brick.Ports[InputPort.Four].SetMode(InfraredMode.Proximity);
Console.WriteLine(brick.Ports[InputPort.Four].SIValue);
brick.DirectCommand.PlayToneAsync(20, 442, 1000);
}
private void brick_BrickChanged(object sender, BrickChangedEventArgs e)
{
_portText.Clear();
foreach(Port port in e.Ports.Values)
{
_portText.AppendFormat("{0}: {1}, {2}, {3}", port.Name, port.Type, port.Mode, port.SIValue);
_portText.AppendLine();
}
_ports.Text = _portText.ToString();
}
void brick_BrickChanged(object sender, BrickChangedEventArgs e)
{
InputPorts.DataContext = e.Ports;
}
private void OnBrickChanged(BrickChangedEventArgs e)
{
EventHandler<BrickChangedEventArgs> handler = BrickChanged;
if(handler != null)
{
if(_context == SynchronizationContext.Current)
handler(this, e);
else
_context.Post(delegate { handler(this, e); }, null);
}
}
/*
* _brick_BrickChanged is an event handler that will fire when ever the brick's color sensor reveives new data.
*/
void _brick_BrickChanged(object sender, BrickChangedEventArgs e)
{
//System.Console.WriteLine("\nIn MaveNavigatorIntermediate()");
double lightSensorValue = e.Ports[InputPort.One].SIValue;
if (traversingArc)
{
if (lightSensorValue < darkColorSIValue) // black in current
{
// Possible node found
traversingArc = false;
}
else if (lightSensorValue > lightColorSIValue)
{
// Target found
targetReached = true;
traversingArc = false;
MakeTone(1000);
Task.Delay(500).Wait();
MakeTone(1000);
Task.Delay(500).Wait();
MakeTone(1000);
Task.Delay(500).Wait();
}
else
{
TraverseArc(lightSensorValue);
}
}
//System.Console.WriteLine("Leaving MaveNavigatorIntermediate()\n");
}
private void _brick_BrickChanged(object sender, BrickChangedEventArgs e)
{
Debug.WriteLine("algo ocurrió!");
}
static void _brick_BrickChanged(object sender, BrickChangedEventArgs e)
{
System.Console.WriteLine(e.Ports[InputPort.One].SIValue);
}
