/// <summary>
/// CLR-pattern for firing the event notification
/// </summary>
/// <param name="message"></param>
protected virtual void OnInfraredMessageDecoded(object message)
{
var handler = this.InfraredMessageDecoded;
if (handler != null)
{
var args = new InfraredMessageDecodedEventArgs();
args.Message = message;
handler(
this,
args);
}
}
static void irrx_InfraredMessageDecoded(
object sender,
InfraredMessageDecodedEventArgs e)
{
var message = (LegoMessage)e.Message;
//Debug.Print(message.Mode + " " + message.Func);
switch (message.Func & 0x03)
{
case 0:
_wheelLeft.SetDutyCycle(0);
_red.Write(false);
break;
case 1:
_wheelLeft.SetDutyCycle(100);
break;
case 2:
_red.Write(true);
break;
}
switch (message.Func & 0x0C)
{
case 0:
_wheelRight.SetDutyCycle(0);
_green.Write(false);
break;
case 4:
_wheelRight.SetDutyCycle(100);
break;
case 8:
_green.Write(true);
break;
}
}
