void InputThread() { GT.Socket socket = GT.Socket.GetSocket(5, true, null, null); //Mainboard.TurnOnLed(6); DigitalInput p7 = DigitalInputFactory.Create(socket, GT.Socket.Pin.Three, GlitchFilterMode.Off, ResistorMode.PullDown, breakout); //Mainboard.TurnOnLed(7); DigitalInput p8 = DigitalInputFactory.Create(socket, GT.Socket.Pin.Four, GlitchFilterMode.Off, ResistorMode.PullDown, breakout); //Mainboard.TurnOnLed(8); DigitalInput p9 = DigitalInputFactory.Create(socket, GT.Socket.Pin.Five, GlitchFilterMode.Off, ResistorMode.PullDown, breakout); //Mainboard.TurnOnLed(9); while (true) { int spd = 50; string cmd = GetCommand(p7, p8, p9); //Debug.Print("CMD " + cmd); switch (cmd) { case "STOP": Mainboard.SetMotorSpeed(0, 0); break; case "GO": Mainboard.SetMotorSpeed(spd, spd); break; case "LEFT": Mainboard.SetMotorSpeed(spd, -spd); break; case "RIGHT": Mainboard.SetMotorSpeed(-spd, spd); break; case "BACK": Mainboard.SetMotorSpeed(-spd, -spd); break; default: Mainboard.SetMotorSpeed(0, 0); break; } } }