public async Task <IActionResult> Up(double speed = 0.6)
{
_l298n.Move(1, speed);
InitFX();
isup = "start";
await _chatHub.Clients.All.SendAsync("ReceiveMessage", "42", "前进.");
return(Content("前进"));
}
public async Task <IActionResult> Start(double speed = 0.8)
{
if (ishw == "stop")
{
var inputPin = Pi.Gpio[BcmPin.Gpio25]; // BCM Pin 25 or Physical pin 22 on the right side of the header.
sensor = new InfraredSensor(inputPin, true);
sensor.DataAvailable += async(s, e) =>
{
Console.Clear();
var necData = InfraredSensor.NecDecoder.DecodePulses(e.Pulses);
if (necData != null)
{
var decdata = BitConverter.ToString(necData);
Console.WriteLine($"NEC Data: {decdata.Replace("-", " "),12} Pulses: {e.Pulses.Length,4} Duration(us): {e.TrainDurationUsecs,6} Reason: {e.FlushReason}");
#region 遥控器控制小车
switch (decdata)
{
case "DD-22-0B-F4":
_l298n.Move(1, speed);
L298NController.InitFX();
L298NController.isup = "start";
await _chatHub.Clients.All.SendAsync("ReceiveMessage", "42", "前进.");
break;
case "DD-22-0D-F2":
_l298n.Move(2, speed);
L298NController.InitFX();
L298NController.isdown = "start";
await _chatHub.Clients.All.SendAsync("ReceiveMessage", "43", "后退.");
break;
case "DD-22-0E-F1":
_l298n.Move(3, speed);
L298NController.InitFX();
L298NController.isleft = "start";
await _chatHub.Clients.All.SendAsync("ReceiveMessage", "44", "左转.");
break;
case "DD-22-0C-F3":
_l298n.Move(4, speed);
L298NController.InitFX();
L298NController.isright = "start";
await _chatHub.Clients.All.SendAsync("ReceiveMessage", "45", "右转.");
break;
case "DD-22-0A-F5":
_l298n.Move(5, 0);
L298NController.InitFX();
L298NController.ispause = "start";
await _chatHub.Clients.All.SendAsync("ReceiveMessage", "46", "暂停.");
break;
}
await _chatHub.Clients.All.SendAsync("ReceiveMessage", "3", $"NEC Data: {BitConverter.ToString(necData).Replace("-", " "),12}");
#endregion
if (InfraredSensor.NecDecoder.IsRepeatCode(e.Pulses))
{
return;
}
}
else
{
if (e.Pulses.Length >= 4)
{
var debugData = InfraredSensor.DebugPulses(e.Pulses);
//Console.WriteLine($"RX Length: {e.Pulses.Length,5}; Duration: {e.TrainDurationUsecs,7}; Reason: {e.FlushReason}");
//Console.WriteLine($"Debug data: {debugData}");
await _chatHub.Clients.All.SendAsync("ReceiveMessage", "3", $"Debug data: {debugData}");
}
else
{
//Console.WriteLine($"RX (Garbage): {e.Pulses.Length,5}; Duration: {e.TrainDurationUsecs,7}; Reason: {e.FlushReason}");
}
}
};
}
ishw = "start";
await _chatHub.Clients.All.SendAsync("ReceiveMessage", "70", "红外遥控器开启");
return(Content("红外遥控器开启"));
}