// verified except the interrupting balance loop
public void errors(float avg_pwr)
{
nowOutOfBound = (Math.Abs(avg_pwr) > 100f);
// read cur_err
if (nowOutOfBound && prevOutOfBound)
{
outOfBoundCount++;
}
else
{
outOfBoundCount = 0;
}
if (outOfBoundCount > 20)
{
Thread.Sleep(100);
ev3.offMotorA();
ev3.offMotorD();
// diplay ERROR
ev3.sound(50, 800, 100);
ev3.sound(50, 600, 100);
ev3.sound(50, 300, 100);
// B+C
// ev3.offMotorB ();
// ev3.offMotorC ();
// interrupt balance loop
Thread.Sleep(4000);
// stop
}
else
{
prevOutOfBound = nowOutOfBound;
}
}