class BasicPiRobo
{
public const int straight = 1;
public const int rotate = 2;
public const int turnR = 3;
public const int turnL = 4;
public const int turnP = 5;
String fileName="myway.txt";
BasicWheel robo = new BasicWheel ();
Buttons btn = new Buttons ();
LEDs led = new LEDs ();
int [] schedule;
public BasicPiRobo(String fileName)
{
this.fileName = fileName;
List list = new List ();
getSchedule (list);
schedule = new int[list.Count];
for (int i = 0; i < list.Count; i++)
schedule [i] = list [i];
}
public BasicPiRobo(int[]schedule)
{
for (int i = 0; i < schedule.Length; i++)
this.schedule [i] = schedule [i];
}
public int waitButton()
{
int n;
while (true) {
if (btn.waitPress (out n) != -1) {
Console.WriteLine (n);
led.Write (n, true);
Thread.Sleep (100);
led.Write (n, false);
break;
}
Thread.Sleep (50);
}
return n;
}
public void go()
{
int Rt=1, Lt=1;
int speed = 1;
for (int i = 0; i < schedule.Length; i += 2) {
switch (schedule [i]) {
case straight:
robo.move (schedule [i + 1], speed);
break;
case rotate:
robo.rotete (schedule [i + 1], speed);
break;
case turnR:
Rt = schedule [i + 1];
break;
case turnL:
Lt = schedule [i + 1];
break;
case turnP:
robo.turn (Rt, Lt, schedule [i + 1]);
break;
}
Thread.Sleep (100);
}
}
public void getSchedule( List<int> list)
{
try
{
using (StreamReader sr = new StreamReader (fileName))
{
String line;
while ((line = sr.ReadLine ()) != null) {
String[] cmd = line.Split (',');
foreach (String str in cmd) {
switch (str) {
case "straight":
list.Add (straight);
break;
case "rotate":
list.Add (rotate);
break;
case "turnR":
list.Add (turnR);
break;
case "turnL":
list.Add (turnL);
break;
case "turnP":
list.Add (turnP);
break;
default:
int x;
if (str.Length == 0)
break;
if (!int.TryParse (str, out x)) {
Console.WriteLine ("スペルミス"+str.Length);
}
list.Add (x);
break;
} // switch
} // foreach
} //while
} // using
} // try
catch(Exception){
Console.WriteLine("File not found");
} // catch
} // method
} // class
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