adjust navigation and statemachine

ADIS_Csharp/RaspiControl/Application.cs

@@ -54,10 +54,11 @@ namespace RaspiControl {
         }
 
         public void Status_PresentChanged(object? sender, PresentEventArgs e) {
-            if(this.sm.CurrentState == ProcessState.Auto) {
+            //if(this.sm.CurrentState == ProcessState.Auto) {
-                this.PresentCounter++;
+            this.challenge.RobotStationary.SplitFlap.Display(e.Present.ToString().PadLeft(4, '0'));
-                this.challenge.RobotStationary.SplitFlap.Display(this.PresentCounter.ToString().PadLeft(4,'0'));
+            log.Debug(e.Present.ToString());
-            }
+            log.Debug(e.Present.ToString().PadLeft(4, '0'));
+            //}
         }
 
         public void Run() {
@@ -141,7 +142,7 @@ namespace RaspiControl {
                     this.PresentCounter = 0;
                     this.stopwatch.Stop();
                     long elapsedTime = stopwatch.ElapsedMilliseconds / 1000;
-                    this.challenge.RobotStationary.SplitFlap.Display(elapsedTime.ToString().PadLeft(4,'0'));
+                    this.challenge.RobotStationary.SplitFlap.Display($"{elapsedTime.ToString().PadLeft(3, '0')}S");
                     break;
                 case ProcessState.Error:
                     //this.PresentCounter = 0;

ADIS_Csharp/RaspiControl/NavigationConstants.cs

@@ -1,9 +1,9 @@
 namespace RaspiControl {
     public static class NavigationConstants {
-        public const int TURN_ANGLE_LEFT = -10;
+        public const int TURN_ANGLE_LEFT = -15;
-        public const int TURN_ANGLE_RIGHT = 10;
+        public const int TURN_ANGLE_RIGHT = 15;
-        public const int SPEED_FORWARD = 100;
+        public const int SPEED_FORWARD = 350;
-        public const int SPEED_BACKWARD = -100;
+        public const int SPEED_BACKWARD = -350;
         public const bool STOP = true;
     }
 }

ADIS_Csharp/RaspiControl/RaspiControl.csproj

@@ -8,7 +8,7 @@
   </PropertyGroup>
 
   <Target Name="PostBuild" AfterTargets="PostBuildEvent">
-    <Exec Command="cd &quot;$(TargetDir)&quot;&#xD;&#xA;&quot;$(SolutionDir)\SecureUpload.exe&quot; . pi-home:ADIS/$(ProjectName)" />
+    <Exec Command="cd &quot;$(TargetDir)&quot;&#xD;&#xA;&quot;$(SolutionDir)\SecureUpload.exe&quot; . pi-hslu:ADIS/$(ProjectName)" />
   </Target>
 
   <ItemGroup>

ADIS_Csharp/RaspiControl/StateMachine.cs

@@ -94,22 +94,19 @@ namespace RaspiControl {
                     {new StateTransition(ProcessState.MoveManual, Command.JoystickRight), ProcessState.MoveManualR },
                     {new StateTransition(ProcessState.MoveManual, Command.JoystickCenter), ProcessState.StopManual },
                     {new StateTransition(ProcessState.MoveManual, Command.autoMode), ProcessState.Auto },
+                    {new StateTransition(ProcessState.MoveManual, Command.finished), ProcessState.Final },
 
                     {new StateTransition(ProcessState.StopManual,Command.JoystickUp), ProcessState.ResumeMoveManual },
                     {new StateTransition(ProcessState.StopManual,Command.JoystickDown), ProcessState.ResumeMoveManual },
                     {new StateTransition(ProcessState.StopManual,Command.JoystickLeft), ProcessState.ResumeMoveManual },
                     {new StateTransition(ProcessState.StopManual,Command.JoystickRight), ProcessState.ResumeMoveManual },
                     {new StateTransition(ProcessState.StopManual, Command.autoMode), ProcessState.Auto },
+                    {new StateTransition(ProcessState.StopManual, Command.finished), ProcessState.Final },
 
                     {new StateTransition(ProcessState.ResumeMoveManual, Command.none),ProcessState.MoveManual },
                     {new StateTransition(ProcessState.ResumeMoveManual, Command.autoMode), ProcessState.Auto },
 
                     {new StateTransition(ProcessState.Auto, Command.finished), ProcessState.Final },
-                    //{new StateTransition(ProcessState.Auto, Command.JoystickUp), ProcessState.StartMoveManual },
-                    //{new StateTransition(ProcessState.Auto, Command.JoystickDown), ProcessState.StartMoveManual },
-                    //{new StateTransition(ProcessState.Auto, Command.JoystickLeft), ProcessState.StartMoveManual },
-                    //{new StateTransition(ProcessState.Auto, Command.JoystickRight), ProcessState.StartMoveManual },
-                    //{new StateTransition(ProcessState.Auto, Command.JoystickCenter), ProcessState.StartMoveManual },
                     {new StateTransition(ProcessState.Auto, Command.failure), ProcessState.Error },
                     {new StateTransition(ProcessState.Auto, Command.manualMode), ProcessState.ResumeMoveManual },