Fixed game state issues with prestart.

RoboticsGUI/GUI/Helpers/Constants.cs

@@ -11,7 +11,7 @@ public static class Constants
         //Default time motors spend moving in each direction.
         public const int defaultMotorFwdTime = 1000; //milliseconds.
         public const int defaultMotorBackTime = 1000; //milliseconds.
-        public const int defaultGameTime = 150; //seconds
+        public const int gameTime = 150; //total game time in seconds - may change this to be configurable later
 
         //Scoring increments for the scoring areas.
         public const uint platInc = 100; //Not sure which platform is the larger one, so use 100 increment for now.
@@ -39,7 +39,7 @@ public static class Constants
         public const short bmotor1  = 4;  //Motor1
         public const short bmotor2  = 5;  //Motor2
 
-        public const int preStartBlinkInterval = 250;
+        public const int preStartBlinkInterval = 50;
         public const short keepAliveLed = 13; //Pin 13 is the built in Arduino pin we are using to physically show communication is OK
         public const int keepAliveInterval = 500; //how often to blink LED in msec
     }

RoboticsGUI/GUI/Model/TeamGameModel.cs

@@ -60,6 +60,7 @@ private set
         private const int hoverTime = 30000; //hover time in total elapsed msecs before absolute end
         private const int obstacleTime = 105000; //obstacle time in total elapsed msecs before absolute end
         private const int platformTime = 150000; //platform time
+        private const double gameTimeTotalMS = Constants.gameTime * 1000; //game time in milliseconds
         //Time left after above times have elapsed
         private double startLeft;
         private double hoverLeft;
@@ -71,8 +72,9 @@ private void OnTimeChange(object sender, PropertyChangedEventArgs e)
             double timeLeft = _countdown.TimeRemaining.TotalMilliseconds;
             switch (_state)
             {
+                case gameState.PreStart:
                 case gameState.Idle:
-                    if (timeLeft > 0 && timeLeft < _countdown.Timeout.TotalMilliseconds)
+                    if (timeLeft > 0 && timeLeft < gameTimeTotalMS)
                     {
                         _state = gameState.Start;
                         _teamControl.StartLed.Value = true;
@@ -173,11 +175,11 @@ public void PreStart()
                 _state = gameState.PreStart;
                 _blinkTimer.Start();
             }
-            else if (_state == gameState.PreStart)
+            else if (_state == gameState.PreStart) //toggle off
             {
                 _blinkTimer.Stop();
                 _teamControl.StartLed.Value = false;
-                _state = gameState.Start;
+                _state = gameState.Idle;
             }
         }
 

RoboticsGUI/GUI/View/MainWindowView.xaml

@@ -192,6 +192,7 @@
         <Button Grid.Row="3" Grid.Column="7" Content="Start" Margin="7" Command="{Binding StartCommand}" VerticalContentAlignment="Center" HorizontalContentAlignment="Center" />
         <Button Grid.Row="3" Grid.Column="8" Content="Stop" Margin="7" Command="{Binding StopCommand}" HorizontalContentAlignment="Center" VerticalContentAlignment="Center" />
         <Button Grid.Row="3" Grid.Column="9" Content="Reset" Margin="7" Command="{Binding ResetCommand}" HorizontalContentAlignment="Center" VerticalContentAlignment="Center" />
+        <Button Grid.Row="4" Grid.Column="7" Content="Pre-Start" Margin="6" Command="{Binding PreStartCommand}" IsEnabled="{Binding Arduino.ComOK}" VerticalContentAlignment="Center" HorizontalContentAlignment="Center" />
         <Viewbox Grid.Column="6" Grid.Row="4" Grid.ColumnSpan="2"/>
         <Rectangle Grid.RowSpan="{Binding RowDefinitions.Count, ElementName=grid, Mode=OneWay}" Grid.Column="10" Fill="AliceBlue" Width="1" Margin="10,0" />
 
@@ -339,6 +340,5 @@
         <Button Content="Force Stop" Grid.Column="8" Grid.Row="13" Command="{Binding T2MotorStop, Mode=OneWay}" Margin="0,0,0,2"/>
         <Button Content="Test Pause" Grid.Column="9" Grid.Row="14" Grid.ColumnSpan="2" Margin="1,0,20,0" Command="{Binding T2MotorPause}"/>
         <Label Content="T2 Motor Control" Grid.Column="7" HorizontalAlignment="Left" Margin="51,2,0,10" Grid.Row="12" Width="100" Grid.ColumnSpan="3"/>
-        <Button Grid.Row="4" Grid.Column="7" Content="Pre-Start" Margin="6" Command="{Binding PreStartCommand, Mode=OneWay}" IsEnabled="{Binding Arduino.ComOK}" VerticalContentAlignment="Center" HorizontalContentAlignment="Center" />
     </Grid>
 </Window>

RoboticsGUI/GUI/ViewModel/MainWindowViewModel.cs

@@ -55,7 +55,7 @@ public MainWindowViewModel()
 
         }
 
-        public static CountdownModel Countdown { get; } = new CountdownModel(TimeSpan.FromSeconds(Constants.defaultGameTime));
+        public static CountdownModel Countdown { get; } = new CountdownModel(TimeSpan.FromSeconds(Constants.gameTime));
 
         public static TeamDataModel Team1 { get; } = new TeamDataModel("Red Team", Countdown, Constants.rplat1, Constants.rplat2, Constants.robs1, Constants.robs2, Constants.rhover,
             Constants.rstart, Constants.rmotor1, Constants.rmotor2, Properties.Settings.Default.RedMotorFwdTime, Properties.Settings.Default.RedMotorBackTime); //assumption: this is the red team
@@ -93,7 +93,8 @@ public bool StartLedUnionProperty
             Team2.Reset();
             //TODO reset scores as well.
         }));
-        RelayCommand PreStartCommand => _cmdPreStart ?? (_cmdPreStart = new RelayCommand(execute => { Team1.TeamGame.PreStart();
+        public RelayCommand PreStartCommand => _cmdPreStart ?? (_cmdPreStart = new RelayCommand(execute => {
+            Team1.TeamGame.PreStart();
             Team2.TeamGame.PreStart(); }, canExecute => { return Arduino.ComOK; }));
 
         //T1 score and sensor control