public static void Main(string[] args)
{
ManualResetEvent terminateProgram = new ManualResetEvent(false);
UltraSonicMode[] modes = { UltraSonicMode.Centimeter, UltraSonicMode.Inch, UltraSonicMode.Listen };
int modeIdx = 0;
ButtonEvents buts = new ButtonEvents();
var sensor = new EV3UltrasonicSensor(SensorPort.In1, modes[modeIdx]);
LcdConsole.WriteLine("Use sonic on port1");
LcdConsole.WriteLine("Up change mode");
LcdConsole.WriteLine("Enter read");
LcdConsole.WriteLine("Esc. terminate");
buts.EscapePressed += () => {
terminateProgram.Set();
};
buts.UpPressed += () => {
modeIdx = (modeIdx + 1) % modes.Length;
sensor.Mode = modes[modeIdx];
LcdConsole.WriteLine("Mode: " + modes[modeIdx]);
};
buts.EnterPressed += () => {
LcdConsole.WriteLine(sensor.ReadAsString());
};
terminateProgram.WaitOne();
}
/// <summary>
/// this method initializes all needed motors and sensors
/// to control the robot accordingly
/// </summary>
public static void InitRobot()
{
AddEmergencyStopOption();
LeftTrack = new Motor(Constants.LEFT_TRACK_PORT);
RightTrack = new Motor(Constants.RIGHT_TRACK_PORT);
GrapplerRiserMotor = new Motor(Constants.GRAPPLER_RISER_PORT);
GrapplerWheelMotor = new Motor(Constants.GRAPPLER_WHEEL_PORT);
ColorSensor = new EV3ColorSensor(Constants.EV3_COLOR_SENSOR_PORT);
IRSensor = new EV3IRSensor(Constants.IR_SENSOR_PORT);
UltraSonicSensor = new EV3UltrasonicSensor(Constants.ULTRASONIC_SENSOR_PORT);
ColorSensor.Mode = ColorMode.RGB;
UltraSonicSensor.Mode = UltraSonicMode.Centimeter;
GrapplerPosition = GrapplerPosition.Down;
FoodState = FoodState.Searching;
IsInitialized = true;
WaitToFullyBootProgram();
CalibrizeGrappler();
PrintEmptyLine();
WaitForStartButtonPress();
TeamMode = TeamMode.WinnieTeam;
//InitColour();
}
public static void MainThread()
{
// All in one thread
Init();
SetColor(ConsoleColor.Red);
LogFileWriter.WriteLine("");
Log("New log file started.");
try
{
TRobot.Writeln(PathForExe);
if (IsRobot)
{
Emergency.Start();
FinalizePRogram();
LogFileWriter = File.AppendText(LogFile);
BIOS_Beep();
// MonoBrick.EV3.Mailbox mail = new MonoBrick.EV3.Mailbox();
// Thread.Sleep(1000000);
/*string[] arr = MonoBrick.Bluetooth<BrickCommand, BrickReply>.GetPortNames();
* for (int i = 0; i < arr.Length; i++)
* {
* Writeln(arr[i]);
* }
* Thread.Sleep(100000);*/
Motor TestMotor = new Motor(MotorPort.OutD);
Writeln(TestMotor.GetTachoCount().ToString());
TestMotor.SetSpeed(100);
Thread.Sleep(1000);
TestMotor.Brake();
Writeln(TestMotor.GetTachoCount().ToString());
// Thread.Sleep(100000);
// System.IO.Ports.SerialPort serialPort = new SerialPort();
string[] ARR = SerialPort.GetPortNames();
for (int i = 0; i < ARR.Length; i++)
{
Writeln($"Serial {ARR[i]}");
}
Writeln("Hello from Robot");
long A = 0;
TDirectionizer directionizer = new TDirectionizer(SensorPort.In2, SensorPort.In3);
Motor Left = new Motor(MotorPort.OutC);
Motor Right = new Motor(MotorPort.OutB);
/*while (true)
* {
* int[] res = directionizer.Directionize();
* LcdConsole.Clear();
* TRobot.Writeln($"Motorl: {res[0]}; Motorr: {res[1]};");
* Left.SetPower((sbyte)res[0]);
* Right.SetPower((sbyte)res[1]);
* Thread.Sleep(50);
* }*/
TMotivator vec = new TMotivator(MotorPort.OutC, MotorPort.OutB);
EV3UltrasonicSensor ultrasonicSensor = new EV3UltrasonicSensor(SensorPort.In1, UltraSonicMode.Centimeter);
Motor Test = new Motor(MotorPort.OutB);
Writeln($"Prev tacho: {Test.GetTachoCount()}");
vec.MoveForward(50, 360);
Writeln($"Tacho: {Test.GetTachoCount()}");
Thread.Sleep(100000);
/*while (true)
* {
* A++;
* vec.MoveForward_mm(50, 300);
* vec.TurnLeft(20, 180);
* vec.MoveForward_mm(50, 300);
* vec.TurnRight(20, 180);
* if (A >= 4)
* break;
* }*/
}
TField Fld = Field_Generated_Class.Generate();
TDijkstra djk = new TDijkstra(new TPoint(1, 1), new TPoint(2, 0), Fld);
TRobot.Writeln(djk.Search_Way().ToString() + $" steps {djk.CountSteps}");
djk.Way.Reverse();
for (int i = 0; i < djk.Way.Count; i++)
{
TRobot.Writeln($"[{djk.Way[i].Position.X}, {djk.Way[i].Position.Y}]");
}
}
catch (Exception E)
{
string Str = ($"[EXCEPTION][{E.GetType().Name}]: " + E.Message);
File.WriteAllLines(PathForExe + "last_exception.txt", new string[] { Str });
TRobot.Writeln(Str);
}
TRobot.Writeln("Press any key to continue...");
TRobot.Read();
if (IsRobot)
{
for (MotorPort i = MotorPort.OutA; i <= MotorPort.OutD; i++)
{
Motor mot = new Motor(i);
mot.Brake();
mot.SetPower(0);
}
}
FinalizePRogram();
}
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();
};
}
