public FancyLedThread(ref Khepera khepera)
{
this.khepera = khepera;
ThreadStart threadStart = DoFancy;
_thread = new Thread(threadStart);
}
static void Main(string[] args)
{
Khepera khepera = new Khepera("192.168.8.115", 2543);
var fancy = new FancyLedThread(ref khepera);
//fancy.Start();
var motor1Perry = new Perceptron.Perceptron(-2, 2, -1);
var motor2Perry = new Perceptron.Perceptron(8, -5, -3);
//khepera.Commands.Motors.SetMotors(100,2940);
while (true)
{
//Console.WriteLine($"Swapped motors! {DateTime.Now}");
var ttl = DateTime.Now.Millisecond;
var ir = khepera.Commands.Infrared.GetProximity();
var infraRight1 = ir.GroundFrontRight <= 500 ? 1 : 0;
var infraLeft1 = ir.GroundFrontLeft <= 500 ? 1 : 0;
// int infraRight2 = ir.GroundFrontRight <= 300 ? 1 : 0;
// int infraLeft2 = ir.GroundFrontLeft <= 300 ? 1 : 0;
int motorRightSpeed = motor2Perry.Evaluate(infraLeft1, infraRight1) == 1 ? 100 : 0;
int motorLeftSpeed = motor1Perry.Evaluate(infraLeft1, infraRight1) == 1 ? 100 : 0;
//motorRightSpeed = motor2Perry.Evaluate(infraLeft2, infraRight2) == 1 ? 100 : 20;
//motorLeftSpeed = motor1Perry.Evaluate(infraLeft2, infraRight2) == 1 ? 100 : 20;
khepera.Commands.Motors.SetMotors(motorLeftSpeed, motorRightSpeed);
Console.WriteLine($"LOOP TIME: {DateTime.Now.Millisecond - ttl}ms");
//Thread.Sleep(20);
}
/*var proximity = khepera.Commands.Infrared.GetProximity();
* var ambient = khepera.Commands.Infrared.GetAmbient();
* var leds = khepera.Commands.Leds.Get();
*/
Console.WriteLine();
}