// Algoritam trazenja
static bool Search()
{
LcdConsole.WriteLine("Trazenje predmeta...");
lMotor.ResetTacho(); // Resetuje tacho motora zbog okretanja na kraju
rMotor.ResetTacho();
Thread movement = new Thread(SearchMove);
movement.IsBackground = true; // Background thread se gasi kada se main zavrsi
movement.Start();
progress = 0;
while (ir.Read() > C.irScanTreshold && progress < tableLenght)
{
LcdConsole.WriteLine(ir.Read().ToString());
if (color.Read() == 0)
{
movement.Abort();
motors.Brake();
throw new Exception("Vrednost senzora za boju je 0!");
}
Thread.Sleep(200);
}
movement.Abort();
motors.Brake();
Thread.Sleep(C.motorBrakeSleepTime);
if (progress == tableLenght)
{
return(false);
}
else
{
return(true);
}
}
public static void Main(string[] args)
{
ButtonEvents buts = new ButtonEvents();
bool run = true;
buts.EscapePressed += () =>
{
run = false;
};
MotorSync motori = new MotorSync(MotorPort.OutB, MotorPort.OutD);
EV3IRSensor ir = new EV3IRSensor(SensorPort.In3, IRMode.Proximity);
Thread bg = new Thread(Scan);
bg.Start();
while (run && ir.Read() > 80)
{
LcdConsole.WriteLine(ir.Read().ToString());
Thread.Sleep(200);
}
bg.Abort();
motori.Brake();
motori.Off();
}
public void Brake()
{
Log.Debug("motors brake");
sync.Brake();
}