private void Key_Up(object sender, KeyRoutedEventArgs e)
{
if (_ezb != null)
{
if (e.Key.ToString() == "W")
{
BotMove.reverse(move_vec, _ezb);
}
else if (e.Key.ToString() == "S")
{
BotMove.forward(move_vec, _ezb);
}
else if (e.Key.ToString() == "A")
{
BotMove.right(move_vec, _ezb);
}
else if (e.Key.ToString() == "D")
{
BotMove.left(move_vec, _ezb);
}
else if (e.Key.ToString() == "U")
{
}
else if (e.Key.ToString() == "I")
{
}
else if (e.Key.ToString() == "O")
{
}
else if (e.Key.ToString() == "P")
{
}
}
}
/*
* Handler for Left Button
*/
private void Left_Btn_Click(object sender, RoutedEventArgs e)
{
if (_ezb != null)
{
BotMove.left(move_vec, _ezb);
}
}
private async void Key_Down(object sender, KeyRoutedEventArgs e)
{
int servo_speed = 5;
if (_ezb != null)
{
if (e.Key.ToString() == "W")
{
BotMove.forward(move_vec, _ezb);
}
else if (e.Key.ToString() == "S")
{
BotMove.reverse(move_vec, _ezb);
}
else if (e.Key.ToString() == "A")
{
BotMove.left(move_vec, _ezb);
}
else if (e.Key.ToString() == "D")
{
BotMove.right(move_vec, _ezb);
}
else if (e.Key.ToString() == "U") //open LEFT
{
await _ezb.Servo.SetServoPosition(EZ_B.Servo.ServoPortEnum.D12, EZ_B.Servo.SERVO_MIN, 0);
}
else if (e.Key.ToString() == "I") //close LEFT
{
//left claw
await _ezb.Servo.SetServoPosition(EZ_B.Servo.ServoPortEnum.D12, EZ_B.Servo.SERVO_CENTER, 0);
}
else if (e.Key.ToString() == "O") //close RIGHT
{
//right claw
await _ezb.Servo.SetServoPosition(EZ_B.Servo.ServoPortEnum.D16, EZ_B.Servo.SERVO_CENTER, 0);
}
else if (e.Key.ToString() == "P") //open RIGHT
{
//grab using right hand
await _ezb.Servo.SetServoPosition(EZ_B.Servo.ServoPortEnum.D16, EZ_B.Servo.SERVO_MIN, 0);
}
// neck nod movement
else if (e.Key.ToString() == "J") //move neck to top pos
{
await _ezb.Servo.SetServoPosition(EZ_B.Servo.ServoPortEnum.D9, 150, 3);
}
else if (e.Key.ToString() == "K") //move neck to center
{
await _ezb.Servo.SetServoPosition(EZ_B.Servo.ServoPortEnum.D9, EZ_B.Servo.SERVO_CENTER, 3);
}
else if (e.Key.ToString() == "L") //move neck to down pos
{
await _ezb.Servo.SetServoPosition(EZ_B.Servo.ServoPortEnum.D9, 30, 3);
}
//neck swivel movement
else if (e.Key.ToString() == "Z") // move neck swivel left
{
await _ezb.Servo.SetServoPosition(EZ_B.Servo.ServoPortEnum.D10, 150, servo_speed);
}
else if (e.Key.ToString() == "X") // move neck swivel center
{
await _ezb.Servo.SetServoPosition(EZ_B.Servo.ServoPortEnum.D10, EZ_B.Servo.SERVO_CENTER, servo_speed);
}
else if (e.Key.ToString() == "C") // move neck swivel right
{
await _ezb.Servo.SetServoPosition(EZ_B.Servo.ServoPortEnum.D10, 30, servo_speed);
}
}
}
