我和我的朋友们正在一个学校项目上,我们希望它可以在纸上写东西。我们正在Visual Studio中使用c#对其进行编程。
我们遇到的问题是它以错误的顺序执行命令。如果我们要使其前进然后转弯,它将尝试同时进行。我们已经使用Task.Delay来解决此问题,但是代码变得非常混乱,试图找到延迟的确切时间很烦人。
有人知道其他解决方法吗?下面的代码显示了我们的工作方式。
public static async void Go(Brick brick, uint duration, bool forward)//Makes it go forward
{
if (!forward)
{
await brick.DirectCommand.TurnMotorAtSpeedForTimeAsync(OutputPort.B | OutputPort.C, -speed, duration, true);
Console.WriteLine("Going backwards");
}
else
{
await brick.DirectCommand.TurnMotorAtSpeedForTimeAsync(OutputPort.B | OutputPort.C, speed, duration, true);
Console.WriteLine("Going forward");
}
}
public static async void Turn(Brick brick,float degrees, bool Clockwise)//Turns the robot. If it goes over for exampel 90 degrees it turns back a little
{
int direction;
int speed = 4;
degrees = Math.Abs(degrees);
DateTime start = DateTime.Now;
if (Clockwise)
{
direction = 1;
}
else
{
direction = -1;
}
float startposition = brick.Ports[InputPort.Two].SIValue;
await brick.DirectCommand.TurnMotorAtSpeedAsync(OutputPort.B, speed * direction);
await brick.DirectCommand.TurnMotorAtSpeedAsync(OutputPort.C, -speed * direction);
bool loopar = true;
while (loopar)
{
float DeltaPosition = Math.Abs(brick.Ports[InputPort.Two].SIValue - startposition);
if (DeltaPosition >= degrees)
{
await brick.DirectCommand.TurnMotorAtSpeedAsync(OutputPort.B | OutputPort.C, 0);
loopar = false;
}
//await Task.Delay(1);
Console.WriteLine(DeltaPosition);
}
loopar = true;
await Task.Delay(100);
await brick.DirectCommand.TurnMotorAtSpeedAsync(OutputPort.B, -1 * direction);
await brick.DirectCommand.TurnMotorAtSpeedAsync(OutputPort.C, 1 * direction);
while (loopar)
{
float DeltaPosition = Math.Abs(brick.Ports[InputPort.Two].SIValue - startposition);
if (DeltaPosition <= degrees)
{
await brick.DirectCommand.TurnMotorAtSpeedAsync(OutputPort.B | OutputPort.C, 0);
loopar = false;
}
Console.WriteLine(DeltaPosition);
}
TimeSpan span = DateTime.Now - start;
Console.WriteLine(span);
}
public static async void L(Brick brick)
{
Go(brick, 1000, true);
await Task.Delay(1000);
Up(brick);
await Task.Delay(500);
Turn(brick, 90, false);
await Task.Delay(5000);
Down(brick);
await Task.Delay(500);
Go(brick, 500, true);
}
正如我所说,我们不想使用Task.Delay,但这仅是我们目前拥有的解决方案。
谢谢!
答案 0 :(得分:5)
async void
是异步的,但不能等待。所有这些调用将在需要时执行。
像这样使它们async Task
:
// public static async void Go(Brick brick, uint duration, bool forward)
public static async Task Go(Brick brick, uint duration, bool forward)
然后等待呼叫:
public static async void L(Brick brick)
{
await Go(brick, 1000, true);
await Up(brick);
await Turn(brick, 90, false);
await Down(brick);
await Go(brick, 500, true);
}
L()
方法也可能也是async Task
,这里没有足够的信息可以说明。
通常,async void
是危险的,应该避免使用,除非您非常确定自己在做什么。