public static async Task <int> MoveBetweenTwoPoints(AI.Step current, AI.Step next)
{
int delay_waitfor1move = C * 150;
int delay_upanddown = 8000;
int delay_betweenaction = 600;
var actions = GetActionSeq(current, next);
int delay = 0;
foreach (var item in actions)
{
int movedelay = delay_waitfor1move * (item[1] - '0');
delay += movedelay;
switch ((char)item[0])
{
case 'B': await Back((int)(item[1] - '0') *C); break;
case 'F': await Forward((int)(item[1] - '0') *C); break;
case 'R': await Right((int)(item[1] - '0') *C); break;
case 'L': await Left((int)(item[1] - '0') *C); break;
}
await Task.Delay(movedelay);
delay += delay_betweenaction;
await Task.Delay(delay_betweenaction);
}
// After take the step, land
await Comm.SendCommand("land");
await Task.Delay(delay_upanddown);
await Comm.SendCommand("takeoff");
await Task.Delay(delay_upanddown);
delay += delay_upanddown * 2;
return(delay);
}
static public async Task Down(int cm)
{
await Comm.SendCommand($"down {cm}");
}
static public async Task Up(int cm)
{
await Comm.SendCommand($"up {cm}");
}
static public async Task Back(int cm)
{
await Comm.SendCommand($"back {cm}");
}
static public async Task Forward(int cm)
{
await Comm.SendCommand($"forward {cm}");
}
static public async Task Right(int cm)
{
await Comm.SendCommand($"right {cm}");
}
static public async Task Left(int cm)
{
await Comm.SendCommand($"left {cm}");
}