public TeamControlModel(Int16 plat1, Int16 plat2, Int16 obs1, Int16 obs2,
Int16 hover, Int16 start, Int16 motor1, Int16 motor2, Int16 frontLim, Int16 backLim)
{
Platform1Led = new LedModel(plat1);
Platform2Led = new LedModel(plat2);
Obstacle1Led = new LedModel(obs1);
Obstacle2Led = new LedModel(obs2);
HoverLed = new LedModel(hover);
StartLed = new LedModel(start);
BackLimSwitch = new SensorModel(backLim);
FrontLimSwitch = new SensorModel(frontLim);
Motor = new MotorModel(motor1, motor2, FrontLimSwitch, BackLimSwitch);
Motor.LimitMode = true;
EnableLimitSwitches = true;
}
//Commands Arduino to change physical led state to specified value.
//Returns either commanded state confirmation or false if communication is bad.
public bool SetLed(LedModel led)
{
if (_comOK && led.PinNumber >= 0)
{
try
{
_session.SetDigitalPin(led.PinNumber, led.Value);
}
catch
{
_comOK = false;
led.Value = false;
}
}
return(_comOK && led.Value);
}
//Commands Arduino to toggle pin state
public void ToggleLed(LedModel led)
{
if (_comOK && led.PinNumber >= 0)
{
led.Value = !led.Value;
try
{
_session.SetDigitalPin(led.PinNumber, led.Value);
}
catch
{
_comOK = false;
led.Value = false;
}
}
}
private void OnLedChanged(object sender, PropertyChangedEventArgs e)
{
LedModel led = (LedModel)sender;
SetLed(led);
}
