static void Main(string[] args)
{
Legobot et = new Legobot();
et.ConnectToBrick();
/* Home home = new Home();
* et.ConnectToBrick();
*
* float[] HomeArray = new float[2];
* int i = 0;
* if (home.GoHome == 1)
* {
* while (et.DetectColour )
* }
* while (i < 2)
* {
* HomeArray[i] = HomeArray[i] + Co
* i++;
* }*/
Console.WriteLine(et.DetectDistance());
Console.WriteLine("Where is Home? \n" +
"Enter 0 for BlackRed. \n" +
"Enter 1 for BlueRed \n" +
"Enter 2 for BlueYellow \n" +
"Enter 3 for YellowBlack.");
int Home = Convert.ToInt32(Console.ReadLine());
while (Home > 3)
{
Console.WriteLine("Please enter a valid selection to continue.");
Home = Convert.ToInt32(Console.ReadLine());
}
bool RainbowDetected = false;
bool PreviousColour = false;
bool CurrentColour = false;
while (RainbowDetected == false)
{
Thread.Sleep(2000);
float distance = et.DetectDistance();
Console.WriteLine("Distance Detected: " + distance);
while (distance > 6)
{
et.Forward();
Thread.Sleep(500);
distance = et.DetectDistance();
Console.WriteLine("Distance Detected: " + distance);
if (distance > 147)
{
et.Reverse();
}
}
et.DetectColour();
float ColourDetected = et.DetectColour();
Console.WriteLine("Colour Detected: " + ColourDetected);
while (PreviousColour == false & CurrentColour == false)
{
if (Home == 0) //BlackRedLoop
{
if (ColourDetected == 5) //Red
{
Thread.Sleep(2000);
et.Reverse();
Thread.Sleep(2000);
et.Turn15Right();
}
else if (ColourDetected == 0) //Black
{
Thread.Sleep(2000);
et.Reverse();
Thread.Sleep(2000);
et.Turn15Left();
}
else if (ColourDetected == 3) //Blue
{
Thread.Sleep(2000);
et.Reverse();
Thread.Sleep(2000);
et.Turn90Right();
}
else //1 = Yellow
{
Thread.Sleep(2000);
et.Reverse();
Thread.Sleep(2000);
et.Turn90Left();
}
}
}
private void RedBlackBTN_Click_1(object sender, RoutedEventArgs e)
{
Debug.WriteLine(et.DetectDistance());
bool ColourOne = false;
bool ColourTwo = false;
while (ColourOne != true || ColourTwo != true)
{
Thread.Sleep(2000);
float distance = et.DetectDistance();
Debug.WriteLine("Distance Detected: " + distance);
while (distance > 6)
{
et.Forward();
Thread.Sleep(500);
distance = et.DetectDistance();
Debug.WriteLine("Distance Detected: " + distance);
}
et.DetectColour();
float ColourDetected = et.DetectColour();
Console.WriteLine("Colour Detected: " + ColourDetected);
//BlackRedLoop
if (ColourDetected == 5) //Red
{
Thread.Sleep(2000);
et.Reverse();
Thread.Sleep(2000);
et.Turn15Right();
ColourOne = true;
Debug.WriteLine(ColourOne);
Debug.WriteLine(ColourTwo);
}
else if (ColourDetected == 0) //Black
{
Thread.Sleep(2000);
et.Reverse();
Thread.Sleep(2000);
et.Turn15Left();
ColourTwo = true;
Debug.WriteLine(ColourOne);
Debug.WriteLine(ColourTwo);
}
else if (ColourDetected == 3) //Blue
{
Thread.Sleep(2000);
et.Reverse();
Thread.Sleep(2000);
et.Turn90Right();
ColourOne = false;
ColourTwo = false;
Debug.WriteLine(ColourOne);
Debug.WriteLine(ColourTwo);
}
else //1 = Yellow
{
Thread.Sleep(2000);
et.Reverse();
Thread.Sleep(2000);
et.Turn90Left();
ColourOne = false;
ColourTwo = false;
Debug.WriteLine(ColourOne);
Debug.WriteLine(ColourTwo);
}
}
et.BaseFound();
Debug.Write("Home Base Found");
}