IEnumerator <ITask> MoveForHelper(float leftpower, float rightpower, float milliseconds)
{
drive.SetDrivePowerRequest request = new drive.SetDrivePowerRequest(leftpower, rightpower);
_mainPort.SetDrivePower(request);
yield return(Arbiter.Receive(false, TimeoutPort((int)milliseconds), delegate(DateTime t) { }));
drive.SetDrivePowerRequest stop = new drive.SetDrivePowerRequest(0, 0);
_mainPort.SetDrivePower(stop);
}
public void HttpPostHandler(HttpPost httpPost)
{
HttpPostRequestData formData = httpPost.GetHeader <HttpPostRequestData>();
try
{
DsspOperation operation = formData.TranslatedOperation;
if (operation is DriveDistance)
{
_mainPort.Post((DriveDistance)operation);
}
else if (operation is SetDrivePower)
{
_mainPort.Post((SetDrivePower)operation);
}
else if (operation is RotateDegrees)
{
_mainPort.Post((RotateDegrees)operation);
}
else if (operation is EnableDrive)
{
_mainPort.Post((EnableDrive)operation);
}
else if (operation is AllStop)
{
_mainPort.Post((AllStop)operation);
}
else if (operation is ResetEncoders)
{
_mainPort.Post((ResetEncoders)operation);
}
else
{
NameValueCollection parameters = formData.Parameters;
if (parameters["StartDashboard"] != null)
{
string Dashboardcontract = "http://schemas.microsoft.com/robotics/2006/01/simpledashboard.user.html";
ServiceInfoType info = new ServiceInfoType(Dashboardcontract);
cons.Create create = new cons.Create(info);
create.TimeSpan = DsspOperation.DefaultShortTimeSpan;
ConstructorPort.Post(create);
Activate(Arbiter.Choice(
create.ResponsePort,
delegate(CreateResponse createResponse) { },
delegate(Fault f) { LogError(f); }
));
}
else if (parameters["DrivePower"] != null)
{
double power = double.Parse(parameters["Power"]);
SetDrivePowerRequest drivepower = new SetDrivePowerRequest();
drivepower.LeftWheelPower = power;
drivepower.RightWheelPower = power;
_mainPort.Post(new SetDrivePower(drivepower));
}
else
{
throw new InvalidOperationException();
}
}
HttpPostSuccess(httpPost);
}
catch
{
HttpPostFailure(httpPost);
}
}
public void HttpPostHandler(HttpPost httpPost)
{
HttpPostRequestData formData = httpPost.GetHeader<HttpPostRequestData>();
try
{
DsspOperation operation = formData.TranslatedOperation;
if (operation is DriveDistance)
{
_mainPort.Post((DriveDistance)operation);
}
else if (operation is SetDrivePower)
{
_mainPort.Post((SetDrivePower)operation);
}
else if (operation is RotateDegrees)
{
_mainPort.Post((RotateDegrees)operation);
}
else if (operation is EnableDrive)
{
_mainPort.Post((EnableDrive)operation);
}
else if (operation is AllStop)
{
_mainPort.Post((AllStop)operation);
}
else
{
NameValueCollection parameters = formData.Parameters;
if (parameters["StartDashboard"] != null)
{
string Dashboardcontract = "http://schemas.microsoft.com/robotics/2006/01/simpledashboard.html";
ServiceInfoType info = new ServiceInfoType(Dashboardcontract);
cons.Create create = new cons.Create(info);
create.TimeSpan = DsspOperation.DefaultShortTimeSpan;
ConstructorPort.Post(create);
Arbiter.Choice(
create.ResponsePort,
delegate(CreateResponse createResponse) { },
delegate(Fault f) { LogError(f); }
);
}
else if (parameters["DrivePower"] != null)
{
double power = double.Parse(parameters["Power"]);
SetDrivePowerRequest drivepower = new SetDrivePowerRequest();
drivepower.LeftWheelPower = power;
drivepower.RightWheelPower = power;
_mainPort.Post(new SetDrivePower(drivepower));
}
else
{
throw new InvalidOperationException();
}
}
HttpPostSuccess(httpPost);
}
catch
{
HttpPostFailure(httpPost);
}
}
/// <summary>
/// SetDrivePower Initialization Constructor
/// </summary>
/// <param name="body"></param>
public SetDrivePower(SetDrivePowerRequest body)
{
Body = body;
}
public void TurnRight(float power)
{
drive.SetDrivePowerRequest right = new drive.SetDrivePowerRequest(power, -power);
_mainPort.SetDrivePower(right);
}
public void TurnLeft(float power)
{
drive.SetDrivePowerRequest left = new drive.SetDrivePowerRequest(-power, power);
_mainPort.SetDrivePower(left);
}
public void Stop()
{
drive.SetDrivePowerRequest request = new drive.SetDrivePowerRequest(0, 0);
_mainPort.SetDrivePower(request);
}
public void SetMotors(float leftPower, float rightPower)
{
drive.SetDrivePowerRequest request = new drive.SetDrivePowerRequest(leftPower, rightPower);
_mainPort.SetDrivePower(request);
}
public void Forward(float power)
{
drive.SetDrivePowerRequest forwards = new drive.SetDrivePowerRequest(power, power);
_mainPort.SetDrivePower(forwards);
}
public void Backward(float power)
{
drive.SetDrivePowerRequest request = new drive.SetDrivePowerRequest(-power, -power);
_mainPort.SetDrivePower(request);
}