void TaskThreadProcess()
{
while (true)
{
switch (state)
{
case TaskDeposeStates.Init:
state = TaskDeposeStates.Attente;
break;
case TaskDeposeStates.Attente:
break;
case TaskDeposeStates.Deplacement1:
if (parentManager.Team == Equipe.Bleue)
{
parentManager.robotDestination = new PointD(1.2, -0.2);
parentManager.robotOrientation = 0;
}
else if (parentManager.Team == Equipe.Jaune)
{
parentManager.robotDestination = new PointD(-1.2, -0.2);
parentManager.robotOrientation = Math.PI;
}
state = TaskDeposeStates.Deplacement1Attente;
break;
case TaskDeposeStates.Deplacement1Attente:
if (parentManager.isDeplacementFinished)
{
state = TaskDeposeStates.Finished;
OnPilotageVentouse(5, -50);
OnPilotageVentouse(6, -50);
OnPilotageVentouse(7, -50);
Thread.Sleep(20);
}
break;
case TaskDeposeStates.Finished:
isFinished = true;
OnPilotageVentouse(5, 0);
OnPilotageVentouse(6, 0);
OnPilotageVentouse(7, 0);
break;
}
Thread.Sleep(10);
}
}
public void Start()
{
state = TaskDeposeStates.Deplacement1;
isFinished = false;
}
public void Pause()
{
state = TaskDeposeStates.Attente;
isFinished = false;
}
public void Init()
{
state = TaskDeposeStates.Init;
isFinished = false;
}