private void button1_Click(object sender, EventArgs e) { robot.ReadLaserValues(); Console.WriteLine("Robot: {0} {1}", robot.Center.x, robot.Center.y); Console.WriteLine("Robot: {0} {1} {2} {3}", robot.LL, robot.LF, robot.RF, robot.RR); CreatePathForm createPathForm = new CreatePathForm(); createPathForm.FormClosing += (o, form) => { var src = new Point(Int32.Parse(createPathForm.srcXTextBox.Text), Int32.Parse(createPathForm.srcYTextBox.Text)); LocationApproximator locationApproximator = new LocationApproximator(); locationApproximator.SetUp(map); Point loc = locationApproximator.GetLocation((int)(src.x - R / 2), (int)(src.y - R / 2), R, R, 2, robot.LL, robot.LF, robot.RR, robot.RF); robot.Center = loc; Console.WriteLine("Robot: {0} {1}", robot.Center.x, robot.Center.y); Console.WriteLine("Robot: {0} {1} {2} {3}", robot.LL, robot.LF, robot.RF, robot.RR); Render(); }; createPathForm.Show(); Render(); }