Changed BB2B into a Thing class

Examples/BB2B/BB2B.cs

@@ -1,31 +1,37 @@
-using System.Threading;
+
 using RoboidControl;
 
-class BB2B {
-    static void Main() {
+class BB2B : Thing {
+    readonly DifferentialDrive drive;
+    readonly TouchSensor touchLeft;
+    readonly TouchSensor touchRight;
+
+    public BB2B() : base(128) { // thingType = 128
+
         // The robot's propulsion is a differential drive
-        DifferentialDrive bb2b = new();
+        drive = new();
+
         // Is has a touch sensor at the front left of the roboid
-        TouchSensor touchLeft = new(bb2b);
+        touchLeft = new(drive);
         // and other one on the right
-        TouchSensor touchRight = new(bb2b);
+        touchRight = new(drive);
+    }
 
-        // Do forever:
-        while (true) {
-            // The left wheel turns forward when nothing is touched on the right side
-            // and turn backward when the roboid hits something on the right
-            float leftWheelSpeed = touchRight.touchedSomething ? -600.0f : 600.0f;
-            // The right wheel does the same, but instead is controlled by
-            // touches on the left side
-            float rightWheelSpeed = touchLeft.touchedSomething ? -600.0f : 600.0f;
-            // When both sides are touching something, both wheels will turn backward
-            // and the roboid will move backwards
-            bb2b.SetWheelVelocity(leftWheelSpeed, rightWheelSpeed);
+    public override void Update(ulong currentTimeMs, bool recurse = true) {
 
-            // Update the roboid state
-            bb2b.Update(true);
-            // and sleep for 100ms
-            Thread.Sleep(100);
-        }
+        // The left wheel turns forward when nothing is touched on the right side
+        // and turn backward when the roboid hits something on the right
+        float leftWheelSpeed = touchRight.touchedSomething ? -600.0f : 600.0f;
+
+        // The right wheel does the same, but instead is controlled by
+        // touches on the left side
+        float rightWheelSpeed = touchLeft.touchedSomething ? -600.0f : 600.0f;
+
+        // When both sides are touching something, both wheels will turn backward
+        // and the roboid will move backwards
+
+        drive.SetWheelVelocity(leftWheelSpeed, rightWheelSpeed);
+
+        base.Update(currentTimeMs, recurse);
     }
 }

Examples/BB2B/Program.cs

@@ -0,0 +1,12 @@
+using System.Threading;
+
+class Program {
+    static void Main() {
+        BB2B bb2b = new();
+
+        while (true) {
+            bb2b.Update();
+            Thread.Sleep(100);
+        }
+    }
+}