private void OnBackLimitHit(object sender, EventArgs e)
{
if (LimitMode)
{
SensorModel sense = (SensorModel)sender;
if (_state == MoveState.MoveFwd && sense.CurrentState == false)
{
_state = MoveState.MoveBack;
Backward();
}
}
}
public TeamControlModel(Int16 plat1, Int16 plat2, Int16 obs1, Int16 obs2,
Int16 hover, Int16 start, Int16 motor1, Int16 motor2, Int16 frontLim, Int16 backLim)
{
Platform1Led = new LedModel(plat1);
Platform2Led = new LedModel(plat2);
Obstacle1Led = new LedModel(obs1);
Obstacle2Led = new LedModel(obs2);
HoverLed = new LedModel(hover);
StartLed = new LedModel(start);
BackLimSwitch = new SensorModel(backLim);
FrontLimSwitch = new SensorModel(frontLim);
Motor = new MotorModel(motor1, motor2, FrontLimSwitch, BackLimSwitch);
Motor.LimitMode = true;
EnableLimitSwitches = true;
}
private void OnFrontLimitHit(object sender, EventArgs e)
{
if (LimitMode)
{
SensorModel sense = (SensorModel)sender;
if (_state == MoveState.MoveBack && sense.CurrentState == false)
{
_state = MoveState.Start;
if (!_stopping)
{
Play();
}
else
{
_stopping = false;
Stop();
}
}
}
}
public MotorModel(short pinNumber1, short pinNumber2,
SensorModel frontLim, SensorModel backLim,
int fwdTime = Constants.defaultMotorFwdTime, int backTime = Constants.defaultMotorBackTime,
bool in1 = false, bool in2 = false)
{
this._pinNumber1 = pinNumber1;
this._pinNumber2 = pinNumber2;
this._in1 = in1;
this._in2 = in2;
ForwardTime = fwdTime;
_lastForwardTime = ForwardTime;
BackwardTime = backTime;
_lastBackwardTime = BackwardTime;
_forwardTimer = new PauseableTimer(ForwardTime);
_forwardTimer.Elapsed += OnForwardTimerElapsed;
_backwardTimer = new PauseableTimer(BackwardTime);
_backwardTimer.Elapsed += OnBackwardTimerElapsed;
frontLim.PropertyChanged += OnFrontLimitHit;
backLim.PropertyChanged += OnBackLimitHit;
LimitMode = false;
}
