/// <summary>
/// Gets the Input Value from the DigitalInput
/// </summary>
/// <returns>Boolean</returns>
public override double Get()
{
#if USE_LOCKING
lock (din)
#endif
{
var input = Convert.ToDouble(din.Get());
if (Math.Abs(previousInput - input) > Constants.EPSILON_MIN)
{
onValueChanged(new VirtualControlEventArgs(input, InUse));
}
previousInput = input;
return(input);
}
}
public void insert(bool button)
{
if (button == true)
{
Left.Set(-0.25);
Right.Set(0.25);
}
if (ShooterBallSensor.Get() == false)
{
stop(true);
}
}
public void TestSolenoid()
{
Reset();
using (Solenoid solenoid1 = new Solenoid(0))
using (Solenoid solenoid2 = new Solenoid(1))
{
NotifyCallback solenoid1Callback = null;
NotifyCallback solenoid2Callback = null;
int callback1Id = -1;
int callback2Id = -1;
if (RobotBase.IsSimulation)
{
solenoid1Callback = (string s, HAL_Value val) =>
{
SimData.DIO[12].SetValue(!val.GetBoolean());
};
callback1Id = SimData.PCM[0].RegisterSolenoidOutputCallback(0, solenoid1Callback, false);
solenoid2Callback = (s, o) =>
{
SimData.DIO[13].SetValue(!o.GetBoolean());
};
callback2Id = SimData.PCM[0].RegisterSolenoidOutputCallback(1, solenoid2Callback);
}
solenoid1.Set(false);
solenoid2.Set(false);
Timer.Delay(SolenoidDelayTime);
Assert.That(fakeSolenoid1.Get());
Assert.That(fakeSolenoid2.Get());
Assert.That(!solenoid1.Get());
Assert.That(!solenoid2.Get());
solenoid1.Set(true);
solenoid2.Set(false);
Timer.Delay(SolenoidDelayTime);
Assert.That(!fakeSolenoid1.Get());
Assert.That(fakeSolenoid2.Get());
Assert.That(solenoid1.Get());
Assert.That(!solenoid2.Get());
solenoid1.Set(false);
solenoid2.Set(true);
Timer.Delay(SolenoidDelayTime);
Assert.That(fakeSolenoid1.Get());
Assert.That(!fakeSolenoid2.Get());
Assert.That(!solenoid1.Get());
Assert.That(solenoid2.Get());
solenoid1.Set(true);
solenoid2.Set(true);
Timer.Delay(SolenoidDelayTime);
Assert.That(!fakeSolenoid1.Get());
Assert.That(!fakeSolenoid2.Get());
Assert.That(solenoid1.Get());
Assert.That(solenoid2.Get());
if (RobotBase.IsSimulation)
{
SimData.PCM[0].CancelSolenoidOutputCallback(0, callback1Id);
SimData.PCM[0].CancelSolenoidOutputCallback(1, callback2Id);
}
}
}
