public static void Main(string[] args)
{
EventWaitHandle stopped = new ManualResetEvent(false);
ColorMode[] modes = { ColorMode.Color, ColorMode.Reflection, ColorMode.Ambient, ColorMode.Blue };
int modeIdx = 0;
var sensor = new EV3ColorSensor(SensorPort.In1);
ButtonEvents buts = new ButtonEvents();
LcdConsole.WriteLine("Use color on port1");
LcdConsole.WriteLine("Up read value");
LcdConsole.WriteLine("Down raw value");
LcdConsole.WriteLine("Enter change mode");
LcdConsole.WriteLine("Esc. terminate");
buts.EscapePressed += () => {
stopped.Set();
};
buts.UpPressed += () => {
LcdConsole.WriteLine("Sensor value: " + sensor.ReadAsString());
};
buts.DownPressed += () => {
LcdConsole.WriteLine("Raw sensor value: " + sensor.ReadRaw());
};
buts.EnterPressed += () => {
modeIdx = (modeIdx + 1) % modes.Length;
sensor.Mode = modes[modeIdx];
LcdConsole.WriteLine("Sensor mode is set to: " + modes[modeIdx]);
};
stopped.WaitOne();
}
static void DriveToColor(sbyte speed, string Color, Motor motorR, Motor motorL, EV3ColorSensor sensor)
{
int i = 0;
LcdConsole.WriteLine("zoeken naar" + sensor.ReadAsString() + "en " + Color);
Thread.Sleep(1000);
motorL.SetSpeed(speed);
motorR.SetSpeed(speed);
while (Color != sensor.ReadAsString())
{
LcdConsole.WriteLine("Sensor ẁaarde:" + sensor.ReadAsString());
if (Color == (sensor.ReadAsString()))
{
LcdConsole.WriteLine("Sensor ẁaarde:" + sensor.ReadAsString());
LcdConsole.WriteLine("GEVONDEN " + sensor.ReadAsString());
motorR.Off();
motorL.Off();
break;
}
Thread.Sleep(50); // wacht voor zoveel miliseconde voor de volgende loop
i++;
if (i > 60) // als 5000 miliseconden voorbij zijn stop
{
LcdConsole.WriteLine("heeft de kleur niet kunnen vinden");
motorR.Off();
motorL.Off();
break;
}
}
}
private async Task TestEV3Color()
{
//brick.Stop();
//brick.SetTimeout(250);
EV3ColorSensor nxtlight = new EV3ColorSensor(BrickPortSensor.PORT_S4, ColorSensorMode.Reflection);
EV3TouchSensor touch = new EV3TouchSensor(BrickPortSensor.PORT_S1);
//brick.Stop();
//brick.SetupSensors();
RGBColor rgb;
await Task.Delay(5000);
for (int i = 0; i < nxtlight.NumberOfModes(); i++)
{
int count = 0;
while ((count < 100) && !touch.IsPressed())
{
//Debug.WriteLine(string.Format("NXT Touch, Raw: {0}, ReadASString: {1}, IsPressed: {2}, NumberNodes: {3}, SensorName: {4}", touch.ReadRaw(), touch.ReadAsString(), touch.IsPressed(), touch.NumberOfModes(), touch.GetSensorName()));
//Debug.WriteLine(string.Format("EV3 Touch, Raw: {0}, ReadASString: {1}, IsPressed: {2}, NumberNodes: {3}, SensorName: {4}", ev3Touch.ReadRaw(), ev3Touch.ReadAsString(), ev3Touch.IsPressed(), ev3Touch.NumberOfModes(), ev3Touch.GetSensorName()));
//Debug.WriteLine(string.Format("NXT Sound, Raw: {0}, ReadASString: {1}, NumberNodes: {2}, SensorName: {3}", sound.ReadRaw(), sound.ReadAsString(), sound.NumberOfModes(), sound.GetSensorName()));
//brick.UpdateValues();
Debug.WriteLine(string.Format("EV3 Color Sensor, Raw: {0}, ReadASString: {1}",
nxtlight.ReadRaw(), nxtlight.ReadAsString()));
rgb = nxtlight.ReadRGBColor();
Debug.WriteLine(string.Format("Color: {0}, Red: {1}, Green: {2}, Blue: {3}",
nxtlight.ReadColor(), rgb.Red, rgb.Green, rgb.Blue));
//brick.Stop();
//brick.Start();
//nxtlight.ColorMode = ColorSensorMode.Ambient;
await Task.Delay(1000);
//if ((touch.IsPressed()) && ev3Touch.IsPressed())
count++;
//nxtlight.ColorMode = ColorSensorMode.Color;
}
if (nxtlight.ColorMode == ColorSensorMode.Reflection)
{
nxtlight.ColorMode = ColorSensorMode.Color;
}
else
{
nxtlight.ColorMode = ColorSensorMode.Reflection;
}
//brick.SetupSensors();
await Task.Delay(5000);
}
}
private static void TestEV3Color()
{
Console.WriteLine("EV3 sensor color test mode");
EV3ColorSensor nxtlight = new EV3ColorSensor(_brick, SensorPort.Port2, ColorSensorMode.Green);
EV3TouchSensor touch = new EV3TouchSensor(_brick, SensorPort.Port1);
RGBColor rgb;
Thread.Sleep(5000);
for (int i = 0; i < nxtlight.NumberOfModes(); i++)
{
int count = 0;
while ((count < 100) && !touch.IsPressed())
{
Console.WriteLine($"EV3 Color Sensor, Raw: {nxtlight.ReadRaw()}, ReadASString: {nxtlight.ReadAsString()}");
rgb = nxtlight.ReadRGBColor();
Console.WriteLine($"Color: {nxtlight.ReadColor()}, Red: {rgb.Red}, Green: {rgb.Green}, Blue: {rgb.Blue}");
Thread.Sleep(1000);
count++;
}
nxtlight.SelectNextMode();
Thread.Sleep(5000);
}
}
public static void Main(string[] args)
{
//AutoFin->false
ManualResetEvent terminateProgram = new ManualResetEvent(false);
//Motor_Rady
LcdConsole.WriteLine("***Motor_Rady***");
Motor motorA = new Motor(MotorPort.OutA);
Motor motorD = new Motor(MotorPort.OutD);
motorA.Off();
motorD.Off();
motorA.ResetTacho();
motorD.ResetTacho();
//Vehicle_Rady
Vehicle vehicle = new Vehicle(MotorPort.OutA, MotorPort.OutD);
WaitHandle waitHandle;
vehicle.ReverseLeft = false;
vehicle.ReverseRight = false;
int b = 0;
//Sensor_Rady
LcdConsole.WriteLine("***Sensor_Rady***");
//Touch_Rady
var touchSensor1 = new EV3TouchSensor(SensorPort.In1);
var touchSensor2 = new EV3TouchSensor(SensorPort.In4);
//UltraSonic_Rady
var UltraSonicSensor = new EV3UltrasonicSensor(SensorPort.In3, UltraSonicMode.Centimeter);
//Color_Rady
EventWaitHandle stopped = new ManualResetEvent(false);
ColorMode[] modes = { ColorMode.Color, ColorMode.Reflection, ColorMode.Ambient, ColorMode.Blue };
int modeIdx = 0;
var sensor = new EV3ColorSensor(SensorPort.In2, ColorMode.Reflection);
//Conection
LcdConsole.WriteLine("***Conect_Rady***");
//Http
Encoding enc = Encoding.UTF8;
string input = "Detect";
string url = "http://nursinghomeexplorer.azurewebsites.net/index.php";
string param = "";
//
Hashtable ht = new Hashtable();
ht["langpair"] = "#ja";
ht["hl"] = "en";
ht["text"] = HttpUtility.UrlEncode(input, enc);
foreach (string k in ht.Keys)
{
param += String.Format("{0}={1}&", k, ht[k]);
}
byte[] data = Encoding.ASCII.GetBytes(param);
//
HttpWebRequest req = (HttpWebRequest)WebRequest.Create(url);
req.Method = "POST";
req.ContentType = "application/x-www-form-urlencoded";
req.ContentLength = data.Length;
LcdConsole.WriteLine("***Conected!***");
//timer set
System.Diagnostics.Stopwatch sw = new System.Diagnostics.Stopwatch();
long a = 0;
//buts
ButtonEvents buts = new ButtonEvents();
LcdConsole.WriteLine("Up read BrightLine");
LcdConsole.WriteLine("Down read Floor");
//LcdConsole.WriteLine ("Left Exit program");
//LcdConsole.WriteLine ("Right Exit program");
LcdConsole.WriteLine("Enter change color mode");
LcdConsole.WriteLine("Esc. StartRun");
buts.UpPressed += () =>
{
LcdConsole.WriteLine("Sensor value: " + sensor.ReadAsString());
};
buts.DownPressed += () =>
{
LcdConsole.WriteLine("Raw sensor value: " + sensor.ReadRaw());
};
buts.EnterPressed += () =>
{
modeIdx = (modeIdx + 1) % modes.Length;
sensor.Mode = modes[modeIdx];
LcdConsole.WriteLine("Sensor mode is set to: " + modes[modeIdx]);
};
//Left_Finish
buts.LeftPressed += () => {
terminateProgram.Set();
};
//Escape_StartRun
buts.EscapePressed += () =>
{
LcdConsole.WriteLine("***StartRun***");
stopped.Set();
//loop_run on the line
while (true)
{
//touchsensor2 Pressed
if (touchSensor2.IsPressed() == true)
{
//motors stop
motorA.Brake();
motorD.Brake();
LcdConsole.WriteLine("***Stop***");
//timer start
sw.Start();
//after 5sec
Thread.Sleep(5000);
a = sw.ElapsedMilliseconds;
LcdConsole.WriteLine("***Stop_5sec***");
if (a >= 5000)
{
//timer stop
a = 0;
sw.Stop();
sw.Reset();
if (touchSensor2.IsPressed() == true)
{
LcdConsole.WriteLine("***Stop_ISPressed2***");
//
Stream reqStream = req.GetRequestStream();
LcdConsole.WriteLine("***Stop_GetReqStream***");
reqStream.Write(data, 0, data.Length);
LcdConsole.WriteLine("***Stop_write***");
reqStream.Close();
LcdConsole.WriteLine("***Stop_reqStream.close***");
break;
}
if (touchSensor1.IsPressed() == true)
{
//
Stream reqStream = req.GetRequestStream();
reqStream.Write(data, 0, data.Length);
reqStream.Close();
break;
}
}
else
{
continue;
}
}
//touchsensor1 pressed
if (touchSensor1.IsPressed() == true)
{
motorA.Brake();
motorD.Brake();
LcdConsole.WriteLine("***Stop***");
//timer start
sw.Start();
//after 5sec
Thread.Sleep(5000);
a = sw.ElapsedMilliseconds;
if (a >= 5000)
{
//timer stop
a = 0;
sw.Stop();
sw.Reset();
if (touchSensor1.IsPressed() == true)
{
//
Stream reqStream = req.GetRequestStream();
reqStream.Write(data, 0, data.Length);
reqStream.Close();
break;
}
if (touchSensor2.IsPressed() == true)
{
//
Stream reqStream = req.GetRequestStream();
reqStream.Write(data, 0, data.Length);
reqStream.Close();
break;
}
}
else
{
continue;
}
}
//Ultrasonic on
if (UltraSonicSensor.Read() <= 30)
{
motorA.Brake();
motorD.Brake();
LcdConsole.WriteLine("***Stop***");
//timer start
sw.Start();
//after 5sec
Thread.Sleep(5000);
a = sw.ElapsedMilliseconds;
if (a >= 5000)
{
//timer stop
a = 0;
sw.Stop();
sw.Reset();
if (UltraSonicSensor.Read() <= 30)
{
//
Stream reqStream = req.GetRequestStream();
reqStream.Write(data, 0, data.Length);
reqStream.Close();
break;
}
}
else
{
continue;
}
}
b = sensor.Read();
if (b < 15)
{
vehicle.TurnRightForward(10, 100);
}
if (15 <= b && b < 60)
{
vehicle.TurnLeftForward(10, 60);
}
if (b >= 60)
{
waitHandle = vehicle.Forward(10, 0, true);
}
}
};
terminateProgram.WaitOne();
buts.LeftPressed += () => {
terminateProgram.Set();
};
}
