public async Task turnAround()
{
//await Task.Delay(100);
//float currentAngle = GyroSensor.getSIValue();
//while (gyroSensor.getSIValue() >= currentAngle - 360)
//{
// MainBrick.Brick.BatchCommand.TurnMotorAtPowerForTime(OutputPort.A, -27, 10, false);
// MainBrick.Brick.BatchCommand.TurnMotorAtPowerForTime(OutputPort.D, 27, 10, false);
// await MainBrick.Brick.BatchCommand.SendCommandAsync();
// await Task.Delay(100);
//}
await Task.Delay(100);
// store current angle
float currentAngle = GyroSensor.getSIValue();
while (gyroSensor.getSIValue() >= currentAngle - 360)
{
MainBrick.Brick.BatchCommand.TurnMotorAtPowerForTime(OutputPort.A, -30, 10, false);
MainBrick.Brick.BatchCommand.TurnMotorAtPowerForTime(OutputPort.D, 30, 10, false);
await MainBrick.Brick.BatchCommand.SendCommandAsync();
await Task.Delay(10);
}
}
public LegoBot()
{
mainBrick = new MainBrick();
gyroSensor = new GyroSensor();
ultrasonicSensor = new UltrasonicSensor();
colourSensor = new ColourSensor();
motor = new Motor();
}
public async Task stepMotor()
{
await Task.Delay(100);
// store current angle
float currentAngle = GyroSensor.getSIValue();
while (gyroSensor.getSIValue() >= currentAngle - 90)
{
MainBrick.Brick.BatchCommand.StepMotorAtPower(OutputPort.A, -25, 1, false);
MainBrick.Brick.BatchCommand.StepMotorAtPower(OutputPort.D, 25, 1, false);
await MainBrick.Brick.BatchCommand.SendCommandAsync();
await Task.Delay(10);
}
}
public async Task TurnLeft()
{
// delay it by few milli sec
await Task.Delay(100);
// store current angle
float currentAngle = GyroSensor.getSIValue();
while (gyroSensor.getSIValue() >= currentAngle - 90)
{
MainBrick.Brick.BatchCommand.TurnMotorAtPowerForTime(OutputPort.A, -25, 10, false);
MainBrick.Brick.BatchCommand.TurnMotorAtPowerForTime(OutputPort.D, 25, 10, false);
await MainBrick.Brick.BatchCommand.SendCommandAsync();
await Task.Delay(10);
}
}
