Scary Fac3: Haunted House Building Challenge winner

Today I found out that I won the haunted house building challenge by Lego (Link).
You might ask yourself why I write about that in this forum. That is because the robot was completely written in C#. This is not a very advanced project but it works and does it’s job 🙂

Links:
– Project page
– Video presentation

Sourcecode:

using System;
using MonoBrickFirmware;
using MonoBrickFirmware.Display;
using MonoBrickFirmware.UserInput;
using System.Threading;
using System.Net;
using System.Threading.Tasks;
using System.IO;
using MonoBrickFirmware.Movement;
using MonoBrickFirmware.Sensors;
using MonoBrickFirmware.Sound;

namespace MonoBrickHelloWorld
{
	class MainClass
	{
		public static void Main (string[] args)
		{
			LcdConsole.WriteLine ("Happy Halloween!");
			Parallel.Invoke (
				() => Lights(),
				() => MainAction(),
				() => Flash()
			);
			Thread.Sleep(50000);
		}

		/// <summary>
		/// This method flashes the spotlights when the gyrosensor moves.
		/// </summary>
		public static void Flash ()
		{
			EV3GyroSensor GyroSensor = new EV3GyroSensor (SensorPort.In2, GyroMode.AngularVelocity);
			Motor LED = new Motor (MotorPort.OutA);
			while (true) {
				if (GyroSensor.Read () >= 2) {
					LED.SetPower (100);
					PlayDracula ();
					LED.SetPower (0);
				}
			}
		}

		public static void PlayDracula()
		{
			Speaker Speaker = new Speaker (75);
			Speaker.PlayTone (440, 250);					//A
			Speaker.PlayTone ((ushort)391.995, 250);		//G
			Speaker.PlayTone (440, 1500);					//A
			Speaker.PlayTone ((ushort)391.995, 250);		//G
			Speaker.PlayTone ((ushort)349.228, 250);		//F
			Speaker.PlayTone ((ushort)329.628, 250);		//E
			Speaker.PlayTone ((ushort)293.665, 250);		//D
			Speaker.PlayTone ((ushort)277.183, 500);		//C#
			Speaker.PlayTone ((ushort)293.665, 750);		//D
		}

		/// <summary>
		/// This method moves the mouth of the head if you press the touchsensor.
		/// </summary>
		public static void MainAction()
		{
			EV3TouchSensor TouchS = new EV3TouchSensor(SensorPort.In1);
			Motor MouthMotor = new Motor (MotorPort.OutC);
			while (true)
			{
				if (TouchS.IsPressed () == true) {
					MouthMotor.SetPower (25);
					Thread.Sleep (500);
					MouthMotor.SetPower (0);
				}
			}
		}

		/// <summary>
		/// This method is used for the pulsing lights of the robot.
		/// </summary>
		public static void Lights ()
		{
			Random rnd = new Random ();
			sbyte CurrentValue = 0;
			sbyte MaxValue = 0;
			Motor EyeLights = new Motor (MotorPort.OutB);
			//Light
			while (true) {
				MaxValue = (sbyte) rnd.Next (60, 90);
				for (sbyte i = CurrentValue; i <= MaxValue; i++) {
					EyeLights.SetPower (i);
					System.Threading.Thread.Sleep (100);
				}

				CurrentValue = MaxValue;
				MaxValue = (sbyte) rnd.Next (10, 40);
				for (sbyte i = CurrentValue; i >= MaxValue; i--) {
					EyeLights.SetPower (i);
					System.Threading.Thread.Sleep (100);
				}
				CurrentValue = MaxValue;
			}
		}
	}
}