private async void DoWork3(object sender, DoWorkEventArgs e)
{
var driver = new TwoMotorsDriver(new Motor(27, 22), new Motor(5, 6));
var ultrasonicDistanceSensor = new UltrasonicDistanceSensor(23, 24);
await WriteLog("Moving forward");
while (_worker2 != null && !_worker2.CancellationPending)
{
driver.MoveForward();
await Task.Delay(200);
var distance = await ultrasonicDistanceSensor.GetDistanceInCmAsync(1000);
if (distance > 35.0)
{
continue;
}
await WriteLog($"Obstacle found at {distance} cm or less. Turning right");
await driver.TurnRightAsync();
await WriteLog("Moving forward");
}
}
private void MainPage_Loaded(object sender, Windows.UI.Xaml.RoutedEventArgs e)
{
_dispatcher = CoreWindow.GetForCurrentThread().Dispatcher;
_twoMotorsDriver = new TwoMotorsDriver(new Motor(6, 5), new Motor(13, 26));
_uln2003Driver = new Uln2003Driver(16, 12, 25, 24);
_ultrasonicDistanceSensor = new UltrasonicDistanceSensor(4, 27);
_worker = new BackgroundWorker();
_worker.DoWork += QueueListener_DoWork;
_worker.RunWorkerAsync();
_worker2 = new BackgroundWorker();
_worker2.DoWork += AvoidCrash_DoWork;
_worker2.RunWorkerAsync();
}
private void MainPage_Loaded(object sender, Windows.UI.Xaml.RoutedEventArgs e)
{
_dispatcher = CoreWindow.GetForCurrentThread().Dispatcher;
_twoMotorsDriver = new TwoMotorsDriver(new Motor(6, 5), new Motor(13, 26));
_uln2003Driver = new Uln2003Driver(16, 12, 25, 24);
_ultrasonicDistanceSensor = new UltrasonicDistanceSensor(4, 27);
_worker = new BackgroundWorker();
_worker.DoWork += DoWork;
_worker.RunWorkerAsync();
_worker2 = new BackgroundWorker();
_worker2.DoWork += DoWork2;
_worker2.RunWorkerAsync();
}
private async void DoWork3(object sender, DoWorkEventArgs e)
{
var driver = new TwoMotorsDriver(new Motor(27, 22), new Motor(5, 6));
var ultrasonicDistanceSensor = new UltrasonicDistanceSensor(23, 24);
await WriteLog("Moving forward");
while (_worker2 != null && !_worker2.CancellationPending)
{
driver.MoveForward();
await Task.Delay(200);
var distance = await ultrasonicDistanceSensor.GetDistanceInCmAsync(1000);
if (distance > 35.0)
continue;
await WriteLog($"Obstacle found at {distance} cm or less. Turning right");
await driver.TurnRightAsync();
await WriteLog("Moving forward");
}
}