private void _lidarService_OnStart()
{
if (IsClosing)
{
return;
}
Invokers.SetText(btnConnect, "Stop");
Invokers.SetBackColor(btnConnect, Color.Red);
Invokers.SetForeColor(btnConnect, Color.White);
Invokers.SetEnabled(groupBox3, false);
ARC.Scripting.VariableManager.SetVariable(_cf.STORAGE[ConfigTitles.IS_LIDAR_RUNNING_VARIABLE].ToString(), true);
_stopWatch.Restart();
}
private void Movement_OnMovement2(MovementManager.MovementDirectionEnum direction, byte speedLeft, byte speedRight)
{
if (_robotController == null || IsClosing)
{
return;
}
var speedLeftScaled = (short)Functions.RemapScalar(speedLeft, 0, 255, 0, 500);
var speedRightScaled = (short)Functions.RemapScalar(speedRight, 0, 255, 0, 500);
if (direction == MovementManager.MovementDirectionEnum.Stop)
{
_robotController.DriveDirect(0, 0);
Invokers.SetBackColor(btnForward, btnForward.Parent.BackColor);
Invokers.SetBackColor(btnRight, btnForward.Parent.BackColor);
Invokers.SetBackColor(btnLeft, btnForward.Parent.BackColor);
Invokers.SetBackColor(btnReverse, btnForward.Parent.BackColor);
Invokers.SetBackColor(btnStop, Common.ChangeColorBrightness(btnForward.Parent.BackColor, -0.3f));
}
else if (direction == MovementManager.MovementDirectionEnum.Forward)
{
_robotController.DriveDirect(speedLeftScaled, speedRightScaled);
Invokers.SetBackColor(btnForward, Common.ChangeColorBrightness(btnForward.Parent.BackColor, -0.3f));
Invokers.SetBackColor(btnRight, btnForward.Parent.BackColor);
Invokers.SetBackColor(btnLeft, btnForward.Parent.BackColor);
Invokers.SetBackColor(btnReverse, btnForward.Parent.BackColor);
Invokers.SetBackColor(btnStop, btnForward.Parent.BackColor);
}
else if (direction == MovementManager.MovementDirectionEnum.Right)
{
_robotController.DriveDirect(speedLeftScaled, -speedRightScaled);
Invokers.SetBackColor(btnForward, btnForward.Parent.BackColor);
Invokers.SetBackColor(btnRight, Common.ChangeColorBrightness(btnForward.Parent.BackColor, -0.3f));
Invokers.SetBackColor(btnLeft, btnForward.Parent.BackColor);
Invokers.SetBackColor(btnReverse, btnForward.Parent.BackColor);
Invokers.SetBackColor(btnStop, btnForward.Parent.BackColor);
}
else if (direction == MovementManager.MovementDirectionEnum.Reverse)
{
_robotController.DriveDirect(-speedLeftScaled, -speedRightScaled);
Invokers.SetBackColor(btnForward, btnForward.Parent.BackColor);
Invokers.SetBackColor(btnRight, btnForward.Parent.BackColor);
Invokers.SetBackColor(btnLeft, btnForward.Parent.BackColor);
Invokers.SetBackColor(btnReverse, Common.ChangeColorBrightness(btnForward.Parent.BackColor, -0.3f));
Invokers.SetBackColor(btnStop, btnForward.Parent.BackColor);
}
else if (direction == MovementManager.MovementDirectionEnum.Left)
{
_robotController.DriveDirect(-speedLeftScaled, speedRightScaled);
Invokers.SetBackColor(btnForward, btnForward.Parent.BackColor);
Invokers.SetBackColor(btnRight, btnForward.Parent.BackColor);
Invokers.SetBackColor(btnLeft, Common.ChangeColorBrightness(btnForward.Parent.BackColor, -0.3f));
Invokers.SetBackColor(btnReverse, btnForward.Parent.BackColor);
Invokers.SetBackColor(btnStop, btnForward.Parent.BackColor);
}
}