//private void driveCommand(TinkerAPI.SetStates? LeftDir, TinkerAPI.SetStates? RightDir, Speed LeftSpeed, Speed RightSpeed)
//{
// if (LeftDir.HasValue && RightDir.HasValue)
// {
// tinker.DigitalWrite(leftDirPin, LeftDir.Value);
// tinker.DigitalWrite(rightDirPin, RightDir.Value);
// }
// tinker.AnalogWrite(leftMotorPin, (short)LeftSpeed);
// tinker.AnalogWrite(rightMotorPin, (short)RightSpeed);
//}
public void GiveCommand(DriveCommands command)
{
switch (command)
{
case DriveCommands.Forward:
driveCommand(TinkerAPI.SetStates.HIGH, TinkerAPI.SetStates.HIGH, Speed.speedFull, Speed.speedFull);
break;
case DriveCommands.ForwardLeft:
driveCommand(TinkerAPI.SetStates.HIGH, TinkerAPI.SetStates.HIGH, Speed.speedHalf, Speed.speedFull);
break;
case DriveCommands.ForwardRight:
driveCommand(TinkerAPI.SetStates.HIGH, TinkerAPI.SetStates.HIGH, Speed.speedFull, Speed.speedHalf);
break;
case DriveCommands.Left:
driveCommand(TinkerAPI.SetStates.LOW, TinkerAPI.SetStates.HIGH, Speed.speedFull, Speed.speedFull);
break;
case DriveCommands.Right:
driveCommand(TinkerAPI.SetStates.HIGH, TinkerAPI.SetStates.LOW, Speed.speedFull, Speed.speedFull);
break;
case DriveCommands.Rear:
driveCommand(TinkerAPI.SetStates.LOW, TinkerAPI.SetStates.LOW, Speed.speedFull, Speed.speedFull);
break;
case DriveCommands.RearLeft:
driveCommand(TinkerAPI.SetStates.LOW, TinkerAPI.SetStates.LOW, Speed.speedHalf, Speed.speedFull);
break;
case DriveCommands.RearRight:
driveCommand(TinkerAPI.SetStates.LOW, TinkerAPI.SetStates.LOW, Speed.speedFull, Speed.speedHalf);
break;
case DriveCommands.Stop:
driveCommand(null, null, Speed.speedStop, Speed.speedStop);
break;
}
}
private bool AutoMarking(DriveCommands command, MapTile desiredStartingTile, MapTile desiredEndingTile, Car aCar)
{
// should only work if the car is working and the
// tile in front is the desired tile
bool shouldItWork = !aCar.IsBroken && map[GetRowInFront(TheCar), GetColumnInFront(TheCar)] == desiredStartingTile;
// perform the command to see if it works
bool result = false;
if (command == DriveCommands.CloseGate)
{
result = aCar.CloseGate(ref map[GetRowInFront(TheCar), GetColumnInFront(TheCar)]);
}
else if (command == DriveCommands.OpenGate)
{
result = aCar.OpenGate(ref map[GetRowInFront(TheCar), GetColumnInFront(TheCar)]);
}
else if (command == DriveCommands.DropDirt)
{
result = aCar.DropDirt(ref map[GetRowInFront(TheCar), GetColumnInFront(TheCar)]);
}
else if (command == DriveCommands.PickupDirt)
{
result = aCar.PickUpDirt(ref map[GetRowInFront(TheCar), GetColumnInFront(TheCar)]);
}
// car did as it should have
if (result == shouldItWork)
{
// car didn't alter the world despite saying it did
if (map[GetRowInFront(TheCar), GetColumnInFront(TheCar)] != desiredEndingTile)
{
// modify world to continue test
//map[GetRowInFront(TheCar), GetColumnInFront(TheCar)] = desiredEndingTile;
// TAKE OFF MARK
TakeOffMark("Did not successfully " + ConvertDrivingCommand(command) + " at (" + GetRowInFront(aCar) + ", " + GetColumnInFront(aCar) + ")");
}
}
// the car did not work as it should
else
{
TakeOffMark("Should not be able to " + ConvertDrivingCommand(command) + " at (" + GetRowInFront(aCar) + ", " + GetColumnInFront(aCar) + ")");
}
return(result);
}
private string ConvertDrivingCommand(DriveCommands command)
{
if (command == DriveCommands.CloseGate)
{
return(" close gate");
}
else if (command == DriveCommands.OpenGate)
{
return(" open gate");
}
else if (command == DriveCommands.PickupDirt)
{
return(" pick up dirt");
}
else
{
return(" drop dirt");
}
}
//private void driveCommand(TinkerAPI.SetStates? LeftDir, TinkerAPI.SetStates? RightDir, Speed LeftSpeed, Speed RightSpeed)
//{
// if (LeftDir.HasValue && RightDir.HasValue)
// {
// tinker.DigitalWrite(leftDirPin, LeftDir.Value);
// tinker.DigitalWrite(rightDirPin, RightDir.Value);
// }
// tinker.AnalogWrite(leftMotorPin, (short)LeftSpeed);
// tinker.AnalogWrite(rightMotorPin, (short)RightSpeed);
//}
public void GiveCommand(DriveCommands command)
{
switch (command)
{
case DriveCommands.Forward:
driveCommand(TinkerAPI.SetStates.HIGH, TinkerAPI.SetStates.HIGH, Speed.speedFull, Speed.speedFull);
break;
case DriveCommands.ForwardLeft:
driveCommand(TinkerAPI.SetStates.HIGH, TinkerAPI.SetStates.HIGH, Speed.speedHalf, Speed.speedFull);
break;
case DriveCommands.ForwardRight:
driveCommand(TinkerAPI.SetStates.HIGH, TinkerAPI.SetStates.HIGH, Speed.speedFull, Speed.speedHalf);
break;
case DriveCommands.Left:
driveCommand(TinkerAPI.SetStates.LOW, TinkerAPI.SetStates.HIGH, Speed.speedFull, Speed.speedFull);
break;
case DriveCommands.Right:
driveCommand(TinkerAPI.SetStates.HIGH, TinkerAPI.SetStates.LOW, Speed.speedFull, Speed.speedFull);
break;
case DriveCommands.Rear:
driveCommand(TinkerAPI.SetStates.LOW, TinkerAPI.SetStates.LOW, Speed.speedFull, Speed.speedFull);
break;
case DriveCommands.RearLeft:
driveCommand(TinkerAPI.SetStates.LOW, TinkerAPI.SetStates.LOW, Speed.speedHalf, Speed.speedFull);
break;
case DriveCommands.RearRight:
driveCommand(TinkerAPI.SetStates.LOW, TinkerAPI.SetStates.LOW, Speed.speedFull, Speed.speedHalf);
break;
case DriveCommands.Stop:
driveCommand(null, null, Speed.speedStop, Speed.speedStop);
break;
}
}
public void DriveTheCar()
{
if (drivingCommands.Count > 0)
{
DriveCommands command = drivingCommands.Dequeue();
if (command == DriveCommands.Move)
{
TheCar.Move(map[GetRowInFront(TheCar), GetColumnInFront(TheCar)]);
}
else if (command == DriveCommands.CloseGate)
{
TheCar.CloseGate(ref map[GetRowInFront(TheCar), GetColumnInFront(TheCar)]);
}
else if (command == DriveCommands.OpenGate)
{
TheCar.OpenGate(ref map[GetRowInFront(TheCar), GetColumnInFront(TheCar)]);
}
else if (command == DriveCommands.PickupDirt)
{
TheCar.PickUpDirt(ref map[GetRowInFront(TheCar), GetColumnInFront(TheCar)]);
}
else if (command == DriveCommands.DropDirt)
{
TheCar.DropDirt(ref map[GetRowInFront(TheCar), GetColumnInFront(TheCar)]);
}
else if (command == DriveCommands.RotateLeft)
{
TheCar.RotateLeft();
}
else if (command == DriveCommands.RotateRight)
{
TheCar.RotateRight();
}
}
}
public void GiveCommand(DriveCommands command)
{
int iresult = core.CallFunctionInt("rccar", "rc," + command.ToString());
}
public void GiveCommand(DriveCommands command)
{
int iresult = core.CallFunctionInt("rccar", "rc," + command.ToString());
}
