public static bool Parking(QueueEntry qe, EventArgs e) { double frontLeft = RealFuncs.getSensorValue(Sensor.FrontLeft); double frontRight = RealFuncs.getSensorValue(Sensor.FrontRight); double sideLeft = RealFuncs.getSensorValue(Sensor.SideLeft); double sideRight = RealFuncs.getSensorValue(Sensor.SideRight); funcs.Log("stare1 :" + stare1.ToString()); switch (stare1) { case 0: RealFuncs.goFront(60, 250); stare1 = 1; break; case 1: if (frontLeft < 208) { RealFuncs.rotirePeLoc(60, 150, Engines.LeftEngines); stare1 = 2; } break; case 2: if (isLeftParalel() == 0) { RealFuncs.goFront(60, 250); stare1 = 3; } break; case 3: if (frontLeft < 218) { RealFuncs.rotirePeLoc(60, 150, Engines.RightEngines); stare1 = 4; } break; case 4: if (isRightParalel() == 0) { RealFuncs.goFront(60, 250); stare1 = 5; } break; case 5: if (frontLeft < 600 && frontLeft > 500) { funcs.Log("parcare"); parcariGasite++; stare1 = 6; RealFuncs.goFront(60, 250); } break; case 6: if (frontLeft < 500) { stare1 = 7; } break; case 7: if (frontLeft < 600 && frontLeft > 500) { funcs.Log("parcare"); parcariGasite++; stare1 = 8; } break; case 8: if (sideLeft > 399) { funcs.Log("parcare buna"); parcareBuna--; if (parcareBuna == 0) { stare1 = 96; } else { stare1 = 10; } } else { stare1 = 10; } break; case 9: stare1 = 99; break; case 10: if (frontLeft < 500) { stare1 = 11; } break; case 11: if (frontLeft < 600 && frontLeft > 500) { funcs.Log("parcare"); parcariGasite++; stare1 = 12; } break; case 12: if (sideRight > 399) { funcs.Log("iesire"); } if (sideLeft > 399) { funcs.Log("parcare buna"); parcareBuna--; if (parcareBuna == 0) { stare1 = 96; } else { stare1 = 13; } } break; case 13: if (frontRight < 660) { stare1 = 14; } break; case 14: if (sideRight > 300) { parcareBuna--; if (parcareBuna == 0) { stare1 = 96; } else { stare1 = 15; } } else { stare1 = 15; } break; case 15: if (frontLeft < 218) { RealFuncs.rotirePeLoc(60, 150, Engines.RightEngines); stare1 = 16; } break; case 16: if (isRightParalel() == 0) { RealFuncs.goFront(10, 250); stare1 = 17; } break; case 17: if (sideRight > 300) { funcs.Log("iesire 2"); stare1 = 2; } break; case 96: // if(sideLeft >512 && sideLeft<552) { RealFuncs.rotirePeLoc(1, 200, Engines.RightEngines); stare1 = 97; } break; case 97: if (frontRight < 300) { RealFuncs.goFront(20, 250); stare1 = 98; } break; case 98: if (frontRight < 60) { stare1 = 99; } break; case 99: { RealFuncs.StopEngines(); return(true); } break; default: break; } return(false); }
private void abortBtn_Click(object sender, RoutedEventArgs e) { RealFuncs.StopEngines(); ext.cmdQueue.Clear(); }