private void stopRobot()
{ // Send stop request to robot
drive.SetDriveRequest request = new drive.SetDriveRequest();
request.LeftPower = 0.0;
request.RightPower = 0.0;
_nxtDrivePort.DriveDistance(request);
}
private void Reverse()
{ // Send reverse request to robot
drive.SetDriveRequest request = new drive.SetDriveRequest();
request.LeftPower = -drivePower;
request.RightPower = -drivePower;
_nxtDrivePort.DriveDistance(request);
currentDirection = Direction.REVERSE;
}
private void driveStraight()
{ // Send request to robot to drive straight
drive.SetDriveRequest request = new drive.SetDriveRequest();
request.LeftPower = drivePower;
request.RightPower = drivePower;
_nxtDrivePort.DriveDistance(request);
currentDirection = Direction.STRAIGHT;
Console.WriteLine("Driving straight");
}
private void turnLeftOnSpot(int degrees)
{ // Turn robot left by the specified degree value
drive.SetDriveRequest request = new drive.SetDriveRequest();
request.LeftPower = -turnPower;
request.RightPower = turnPower;
request.LeftStopAtRotationDegrees = degrees;
request.RightStopAtRotationDegrees = degrees;
_nxtDrivePort.DriveDistance(request);
}
//___________________________________STOP MOTORS___________________________________
private void stopMotors()
{
//Console.WriteLine("STOP MOTORS");
drive.SetDriveRequest request = new drive.SetDriveRequest();
request.LeftPower = 0.0;
request.RightPower = 0.0;
_nxtDrivePort.DriveDistance(request);
}
//___________________________________MOVE FORWARD___________________________________
private void moveForward()
{
//Console.WriteLine("Moving Forward!");
request = new drive.SetDriveRequest();
request.LeftPower = 0.10;
request.RightPower = 0.10;
_nxtDrivePort.DriveDistance(request);
}
private void buttonsHandler(buttons.ButtonsUpdate notification)
{
if (notification.Body.PressedRight == true) //IF button pressed ------ MOVE FORWARD -------
{
if (colour == "Black" && colour2 == "White2")
{
drive.SetDriveRequest request2 = new drive.SetDriveRequest();
request2.LeftPower = 0.10;
request2.RightPower = 0.10;
_nxtDrivePort.DriveDistance(request2);
trackingOn = true;
hitBlue = false;
hitGreen = false;
hitYellow = false;
hitRED = false;
}
}
if (notification.Body.PressedLeft == true)
{
//Stop the robot
drive.SetDriveRequest request2 = new drive.SetDriveRequest();
request2.LeftPower = 0;
request2.RightPower = 0;
_nxtDrivePort.DriveDistance(request2);
trackingOn = false;
MAIN_Timer.Enabled = false;
Delay_Forward.Enabled = false;
Timer3500.Enabled = false;
}
}
//___________________________________BLIND FORWARD___________________________________
private void BlindForward()
{
Console.WriteLine("Blindly moving!");
request = new drive.SetDriveRequest();
request.LeftPower = 0.09;
request.RightPower = 0.09;
_nxtDrivePort.DriveDistance(request);
if (Delay_Forward.Enabled == false)
{
Delay_Forward.Enabled = true;
} //1.8 sec
}
//___________________________________STOP MOTORS___________________________________
private void stopMotors()
{
drive.SetDriveRequest request = new drive.SetDriveRequest();
request.LeftPower = 0.0;
request.RightPower = 0.0;
_nxtDrivePort.DriveDistance(request);
}
//___________________________________MOVE FORWARD___________________________________
private void moveForward()
{
request = new drive.SetDriveRequest();
request.LeftPower = 0.10;
request.RightPower = 0.10;
_nxtDrivePort.DriveDistance(request);
}
