/// <summary>
/// Create a new Bluetooth controller object with characteristics for directional control.
/// </summary>
/// <param name="_device">Hardware device the system is running on.</param>
public BluetoothController(F7Micro _device)
{
Forward = new CharacteristicBool(
"Forward",
uuid: "017e99d6-8a61-11eb-8dcd-0242ac1300aa",
permissions: CharacteristicPermission.Write | CharacteristicPermission.Read,
properties: CharacteristicProperty.Write | CharacteristicProperty.Read
);
Reverse = new CharacteristicBool(
"Reverse",
uuid: "017e99d6-8a61-11eb-8dcd-0242ac1300bb",
permissions: CharacteristicPermission.Write | CharacteristicPermission.Read,
properties: CharacteristicProperty.Write | CharacteristicProperty.Read
);
Left = new CharacteristicBool(
"Left",
uuid: "017e99d6-8a61-11eb-8dcd-0242ac1300cc",
permissions: CharacteristicPermission.Write | CharacteristicPermission.Read,
properties: CharacteristicProperty.Write | CharacteristicProperty.Read
);
Right = new CharacteristicBool(
"Right",
uuid: "017e99d6-8a61-11eb-8dcd-0242ac1300dd",
permissions: CharacteristicPermission.Write | CharacteristicPermission.Read,
properties: CharacteristicProperty.Write | CharacteristicProperty.Read
);
var service = new Service(name: "DirectionalControl", uuid: 253, Forward, Reverse, Left, Right);
BleTreeDefinition = new Definition("Mars Rover", service);
_device.BluetoothAdapter.StartBluetoothServer(BleTreeDefinition);
}
/// <summary>
/// Constructor for the DriverController object.
/// </summary>
/// <param name="device">Meadow device object (required to access the GPIO pins).</param>
public DriveController(F7Micro device)
{
_enableMotors = device.CreateDigitalOutputPort(device.Pins.D04);
Stop();
FrontLeftWheel = new Wheel(device.CreateDigitalOutputPort(device.Pins.D02), device.CreateDigitalOutputPort(device.Pins.D03));
FrontRightWheel = new Wheel(device.CreateDigitalOutputPort(device.Pins.D11), device.CreateDigitalOutputPort(device.Pins.D10));
RearLeftWheel = new Wheel(device.CreateDigitalOutputPort(device.Pins.A00), device.CreateDigitalOutputPort(device.Pins.A01));
RearRightWheel = new Wheel(device.CreateDigitalOutputPort(device.Pins.D13), device.CreateDigitalOutputPort(device.Pins.D14));
}
public Worker(F7Micro device)
{
// TODO: make this all configurable
m_resultsStore = new ResultsStore();
Registry = Provider = new WorkerRegistry("/meadow0/test", device);
Console.WriteLine(" Creating serial port...");
var port = device.CreateSerialPort(
device.SerialPortNames.Com4,
9600,
8,
Parity.None,
StopBits.One);
Serializer = new CommandJsonSerializer(JsonLibrary.SystemTextJson);
Listener = new MeadowSerialListener(port, Serializer);
Listener.CommandReceived += Listener_CommandReceived;
}
/// <summary>
/// Create a new <see cref="Mcp9808"/> using default I2C settings for the <see cref="F7Micro"/>.
/// </summary>
/// <param name="device">The device.</param>
/// <param name="i2CAddress">The I2C address.</param>
/// <returns><see cref="Mcp9808"/>.</returns>
public static Mcp9808 FromF7Micro(F7Micro device, I2cAddress i2CAddress = defaultI2cAddress)
{
II2cBus i2c = device.CreateI2cBus();
return(new Mcp9808(i2c, i2CAddress));
}
/// <summary>
/// Initializes a new instance of the <see cref="OnboardLed"/> class.
/// </summary>
/// <param name="device">The device.</param>
public OnboardLed(F7Micro device)
{
this.redLed = device.CreateDigitalOutputPort(device.Pins.OnboardLedRed, initialState: false);
this.blueLed = device.CreateDigitalOutputPort(device.Pins.OnboardLedBlue, initialState: false);
this.greenLed = device.CreateDigitalOutputPort(device.Pins.OnboardLedGreen, initialState: false);
}
public SensorReader(F7Micro device, Layout layout)
{
_temperature = new AnalogTemperature(device, device.Pins.A00, AnalogTemperature.KnownSensorType.LM35);
layout.Bind("sensors", this);
}
