public void Dispose()
{
_sensor?.Dispose();
}
public void Disable(Accessories accessory)
{
try
{
switch (accessory)
{
case Accessories.Camera:
camera.Dispose();
break;
case Accessories.IMU:
imu.Dispose();
break;
case Accessories.MotorL:
if (motorL != null)
{
motorL.Speed = 0;
}
motorL.Dispose();
break;
case Accessories.MotorR:
if (motorR != null)
{
motorR.Speed = 0;
}
motorR.Dispose();
break;
case Accessories.Motors:
Disable(Accessories.MotorL);
Disable(Accessories.MotorR);
break;
case Accessories.ADC:
adc.Dispose();
break;
case Accessories.IR:
ir.Dispose();
break;
case Accessories.Sonar:
sonar.Dispose();
break;
case Accessories.LED:
led.Dispose();
break;
case Accessories.CPUTemp:
cpuTemperature = null;
break;
case Accessories.All:
foreach (var item in Enum.GetValues(typeof(Accessories)))
{
if ((Accessories)item != Accessories.All)
{
Disable((Accessories)item);
}
}
break;
default:
Console.WriteLine("Something went wrong (Disabling accessories)");
break;
}
}
catch (Exception ex)
{
System.Diagnostics.Debug.WriteLine($"Disabling accessory: {Enum.GetName(typeof(Accessories), accessory)} has failed.");
System.Diagnostics.Debug.WriteLine($"Exception message: {ex.Message}");
Console.WriteLine($"Disabling accessory: {Enum.GetName(typeof(Accessories), accessory)} has failed.");
Console.WriteLine($"Exception message: {ex.Message}");
}
}
