private void Gogogo()
{
int distance = 3500;
Commands.SendCommand("D+" + distance);
decision = Commands.WhichSide(Commands.Checkk(Cheeckk));
int checkPath = 0;
if (decision == 0 || decision == 1)
{
GoToObstacle(decision);
start = DateTime.Now;
Thread.Sleep(2000);
PassingObstacle(decision);
stop = DateTime.Now;
TimeSpan roznica = stop - start;
int roznn = Convert.ToInt32(roznica.TotalMilliseconds);
CheckEdges(decision);
Thread.Sleep(1000);
checkPath = ComeBackToPath(decision);
if (checkPath == 1)
{
ReturnToPath(decision, roznn);
GoStraight();
Commands.SendCommand("H");
}
else
{
Commands.SendCommand("H");
Commands.SendCommand("!");
MessageBox.Show("Koniec jazdy");
return;
}
MessageBox.Show("Koniec jazdy");
}
else
{
GoStraight();
Commands.SendCommand("H");
MessageBox.Show("Koniec jazdy");
}
}