bla

AdvancedServo-simple/Arduino/AbstractArduino.cs

@@ -62,10 +62,14 @@ namespace ebbits.Arduino {
 
     internal void clearStack(char key) {
       LinkedList<ArduinoInput>.Enumerator e = readStack.GetEnumerator();
-      while(e.MoveNext()) {
-        if(e.Current.key == key) {
-          readStack.Remove(e.Current);
+      try {
+        while(e.MoveNext()) {
+          if(e.Current.key == key) {
+            readStack.Remove(e.Current);
+          }
         }
+      } catch(InvalidOperationException) {
+        return;
       }
     }
   }

AdvancedServo-simple/Arduino/MainArduino.cs

@@ -29,8 +29,9 @@ namespace ebbits.Arduino {
       serialSend('b', 2, 1); //Bremse = an
     }
 
-    public void trainMove() {
+    public void trainMove(byte speed) {
       serialSend('b', 2, 0); //Bremse aus
+      serialSend('p', 2, speed);
     }
 
     internal void changeDir(byte dir) {
@@ -77,7 +78,7 @@ namespace ebbits.Arduino {
     public bool findStart() {
       changeDir(0);
       if(this.whereRead() == 0) {
-        trainMove();
+        trainMove(70);
         System.Threading.Thread.Sleep(3000);
       }
       if(this.whereRead() == 0) {
@@ -95,35 +96,35 @@ namespace ebbits.Arduino {
       switch(this.whereRead()) {
         case 6:
           Logger.Info("Fahre von 6 nach 5");
-          trainMove();
+          trainMove(70);
           readStop('r',4);
-          trainMove();
+          trainMove(70);
           readStop('r',5);
           break;
         case 4:
           Logger.Info("Fahre von 4 nach 5");
-          trainMove();
+          trainMove(70);
           readStop('r',5);
           break;
         case 3:
           Logger.Info("Fahre von 3 nach 5");
-          trainMove();
+          trainMove(70);
           readStop('r',2);
-          trainMove();
+          trainMove(70);
           readStop('r',1);
-          trainMove();
+          trainMove(70);
           readStop('r',5);
           break;
         case 2:
           Logger.Info("Fahre von 2 nach 5");
-          trainMove();
+          trainMove(70);
           readStop('r',1);
-          trainMove();
+          trainMove(70);
           readStop('r',5);
           break;
         case 1:
           Logger.Info("Fahre von 1 nach 5");
-          trainMove();
+          trainMove(70);
           readStop('r',5);
           break;
       }
@@ -132,6 +133,10 @@ namespace ebbits.Arduino {
       return (this.whereRead() == 5);
     }
 
-    
+    public bool trainSwitchIsOff() {
+      serialSend('s', 0, 0);
+      ArduinoInput a = base.getInputWait('s');
+      return a.value == 0;
+    }
   }
 }