void MainLoop()
{
if (!nxt.IsMotorControlRunning())
{
nxt.StartMotorControl();
}
if (MoveState && !jump)
{
if (currentDir != USSDirection.Straight)
{
USS_Direct(USSDirection.Straight);
}
motors.Run(100, Convert.ToByte(Convert.ToInt16(textBox2.Text)), 0);
MA++;
System.Threading.Thread.Sleep(1000);
return;
}
USS_Direct(USSDirection.Right);
if (MoveState)
{
motors.Run(100, Convert.ToByte(Convert.ToInt16(textBox5.Text)), Convert.ToSByte(Convert.ToInt16(textBox4.Text)));
System.Threading.Thread.Sleep(1000);
USS_Direct(USSDirection.Straight);
jump = false;
return;
}
else
{
USS_Direct(USSDirection.Left);
if (MoveState)
{
motors.Run(100, Convert.ToByte(Convert.ToInt16(textBox5.Text)), Convert.ToSByte(Convert.ToInt16(textBox3.Text)));
System.Threading.Thread.Sleep(1000);
USS_Direct(USSDirection.Straight);
jump = false;
return;
}
else
{
jump = true;
for (uint i = MA; i > 0; i--)
{
motors.Run(-100, 229, 0);
System.Threading.Thread.Sleep(800);
}
return;
}
}
}
private void button_forward_Click(object sender, EventArgs e)
{
//Run both motors
if (isConnectedToBrick)
{
if (RB_McRXE.Checked)
{
McMotorPair.Run(50, 180, 0);
}
else
{
motorB.Run(50, 180);
motorC.Run(50, 100);
}
}
}
public void Run(double units)
{
_motorSync.Run(Config.RunPower, 0, 0);
}