/// <summary>
/// Turn on the IR sensor
/// </summary>
/// <param name="mode">The data report mode</param>
private void EnableIR(IRMode mode)
{
mWiimoteState.IRState.Mode = mode;
ClearReport();
mBuff[0] = (byte)OutputReport.IR;
mBuff[1] = (byte)(0x04 | GetRumbleBit());
WriteReport();
ClearReport();
mBuff[0] = (byte)OutputReport.IR2;
mBuff[1] = (byte)(0x04 | GetRumbleBit());
WriteReport();
WriteData(REGISTER_IR, 0x08);
//default
// WriteData(REGISTER_IR_SENSITIVITY_1, 9, new byte[] {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x90, 0x00, 0xc0});
// WriteData(REGISTER_IR_SENSITIVITY_2, 2, new byte[] {0x40, 0x00});
//super sensitive according to http://wiibrew.org/index.php?title=Wiimote#Sensitivity_Settings
WriteData(REGISTER_IR_SENSITIVITY_1, 9, new byte[] { 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x90, 0x00, 0x41 });
WriteData(REGISTER_IR_SENSITIVITY_2, 2, new byte[] { 0x40, 0x00 });
WriteData(REGISTER_IR_MODE, (byte)mode);
}
/// <summary>
/// Gets the beacon location. This will change the mode to seek
/// </summary>
/// <returns>The beacon location.</returns>
public int ReadBeaconLocation()
{
var oldmode = Mode;
if (Mode != IRMode.Seek)
{
Mode = IRMode.Seek;
}
//byte[] data = mUartSensor.ReadBytes(4 * 2);
//return new BeaconLocation((sbyte)data[(int)Channel * 2], (sbyte)data[((int)Channel * 2) + 1]);
//return brick.BrickPi.Sensor[(int)Port].Value;
try
{
var ret = brick.get_sensor((byte)Port);
if (Mode != oldmode)
{
Mode = oldmode;
}
return(ret[(int)(Channel) * 2] + ret[(int)(Channel) * 2 + 1] >> 8);
}
catch (Exception)
{
if (Mode != oldmode)
{
Mode = oldmode;
}
return(int.MaxValue);
}
}
/// <summary>
/// Gets the beacon location. This will change the mode to seek
/// </summary>
/// <returns>The beacon location.</returns>
public int ReadBeaconLocation()
{
var oldmode = Mode;
if (Mode != IRMode.Seek)
{
Mode = IRMode.Seek;
}
try
{
var ret = _brick.GetSensor((byte)Port);
if (Mode != oldmode)
{
Mode = oldmode;
}
return(ret[(int)(Channel) * 2] + ret[(int)(Channel) * 2 + 1] >> 8);
}
catch (Exception ex) when(ex is IOException)
{
if (Mode != oldmode)
{
Mode = oldmode;
}
return(int.MaxValue);
}
}
/// <summary>
/// Read the distance of the sensor in CM (0-100). This will change mode to proximity
/// </summary>
public int ReadDistance()
{
if (_mode != IRMode.Proximity)
{
Mode = IRMode.Proximity;
}
return(ReadRaw());
}
/// <summary>
/// Reads commands from the IR-Remote. This will change mode to remote
/// </summary>
/// <param name="channel">Channel.</param>
/// <returns>The remote command.</returns>
public byte ReadRemoteCommand(IRChannel channel)
{
if (Mode != IRMode.Remote)
{
Mode = IRMode.Remote;
}
return(ReadBytes(4)[(int)channel]);
}
/// <summary>
/// Read the distance of the sensor in CM (0-100). This will change mode to proximity
/// </summary>
public int ReadDistance()
{
if (mode != IRMode.Proximity)
{
Mode = IRMode.Proximity;
}
return(brick.BrickPi.Sensor[(int)Port].Value);
}
/// <summary>
/// Reads commands from the IR-Remote. This will change mode to remote
/// </summary>
/// <returns>The remote command.</returns>
public byte ReadRemoteCommand()
{
if (Mode != IRMode.Remote)
{
Mode = IRMode.Remote;
}
return((byte)((brick.BrickPi.Sensor[(int)Port].Value >> (int)Channel) & 0x0F));
}
/// <summary>
/// Read the distance of the sensor in CM (0-100). This will change mode to proximity
/// </summary>
public int ReadDistance()
{
if (Mode != IRMode.Proximity)
{
Mode = IRMode.Proximity;
}
return(ReadByte());
}
/// <summary>
/// Initialize an EV3 IR Sensor
/// </summary>
/// <param name="port">Sensor port</param>
/// <param name="mode">IR mode</param>
/// <param name="timeout">Period in millisecond to check sensor value changes</param>
public EV3IRSensor(BrickPortSensor port, IRMode mode, int timeout)
{
brick = new Brick();
Mode = mode;
Channel = IRChannel.One;
brick.BrickPi.Sensor[(int)Port].Type = (BrickSensorType)mode;
periodRefresh = timeout;
timer = new Timer(UpdateSensor, this, TimeSpan.FromMilliseconds(timeout), TimeSpan.FromMilliseconds(timeout));
}
/// <summary>
/// Gets the beacon location. This will change the mode to seek
/// </summary>
/// <returns>The beacon location.</returns>
public BeaconLocation ReadBeaconLocation()
{
if (Mode != IRMode.Seek)
{
Mode = IRMode.Seek;
}
byte[] data = ReadBytes(4 * 2);
return(new BeaconLocation((sbyte)data[(int)Channel * 2], (sbyte)data[((int)Channel * 2) + 1]));
}
/// <summary>
/// Read the distance of the sensor in CM (0-100). This will change mode to proximity
/// </summary>
public int ReadDistance()
{
if (mode != IRMode.Proximity)
{
Mode = IRMode.Proximity;
}
//return brick.BrickPi.Sensor[(int)Port].Value;
return(ReadRaw());
}
/// <summary>
/// Initialize an EV3 IR Sensor
/// </summary>
/// <param name="brick">Interface to main Brick component</param>
/// <param name="port">Sensor port</param>
/// <param name="mode">IR mode</param>
/// <param name="timeout">Period in millisecond to check sensor value changes</param>
public EV3InfraredSensor(Brick brick, SensorPort port, IRMode mode, int timeout)
{
_brick = brick;
Mode = mode;
Port = port;
Channel = IRChannel.One;
brick.SetSensorType((byte)Port, (SensorType)mode);
_periodRefresh = timeout;
_timer = new Timer(UpdateSensor, this, TimeSpan.FromMilliseconds(timeout), TimeSpan.FromMilliseconds(timeout));
}
/// <summary>
/// Gets the beacon location. This will change the mode to seek
/// </summary>
/// <returns>The beacon location.</returns>
public int ReadBeaconLocation()
{
if (Mode != IRMode.Seek)
{
Mode = IRMode.Seek;
}
//byte[] data = mUartSensor.ReadBytes(4 * 2);
//return new BeaconLocation((sbyte)data[(int)Channel * 2], (sbyte)data[((int)Channel * 2) + 1]);
return(brick.BrickPi.Sensor[(int)Port].Value);
}
/// <summary>
/// Initialize an EV3 IR Sensor
/// </summary>
/// <param name="port">Sensor port</param>
/// <param name="mode">IR mode</param>
/// <param name="timeout">Period in millisecond to check sensor value changes</param>
public EV3IRSensor(Brick brick, BrickPortSensor port, IRMode mode, int timeout)
{
this.brick = brick;
Mode = mode;
Port = port;
Channel = IRChannel.One;
//brick.BrickPi.Sensor[(int)Port].Type = (BrickSensorType)mode;
brick.set_sensor_type((byte)Port, (SENSOR_TYPE)mode);
periodRefresh = timeout;
timer = new Timer(UpdateSensor, this, TimeSpan.FromMilliseconds(timeout), TimeSpan.FromMilliseconds(timeout));
}
/// <summary>Turn on the IR sensor.</summary>
/// <param name="mode">The data report mode</param>
/// <param name="irSensitivity">IR sensitivity</param>
private void EnableIR(IRMode mode, IRSensitivity irSensitivity)
{
wiimoteState.Status.IREnabled = true;
wiimoteState.IRState.Mode = mode;
wiimoteState.IRState.Sensitivity = irSensitivity;
byte[] buff = CreateReport(OutputReport.IRPixelClock);
buff[1] = 0x04;
WriteReport(buff);
buff = CreateReport(OutputReport.IRLogic);
buff[1] = 0x04;
WriteReport(buff);
WriteByte(Registers.IR, 0x08);
switch (irSensitivity)
{
case IRSensitivity.WiiLevel1:
WriteData(Registers.IRSensitivity1, 9, new byte[] { 0x02, 0x00, 0x00, 0x71, 0x01, 0x00, 0x64, 0x00, 0xfe });
WriteData(Registers.IRSensitivity2, 2, new byte[] { 0xfd, 0x05 });
break;
case IRSensitivity.WiiLevel2:
WriteData(Registers.IRSensitivity1, 9, new byte[] { 0x02, 0x00, 0x00, 0x71, 0x01, 0x00, 0x96, 0x00, 0xb4 });
WriteData(Registers.IRSensitivity2, 2, new byte[] { 0xb3, 0x04 });
break;
case IRSensitivity.WiiLevel3:
WriteData(Registers.IRSensitivity1, 9, new byte[] { 0x02, 0x00, 0x00, 0x71, 0x01, 0x00, 0xaa, 0x00, 0x64 });
WriteData(Registers.IRSensitivity2, 2, new byte[] { 0x63, 0x03 });
break;
case IRSensitivity.WiiLevel4:
WriteData(Registers.IRSensitivity1, 9, new byte[] { 0x02, 0x00, 0x00, 0x71, 0x01, 0x00, 0xc8, 0x00, 0x36 });
WriteData(Registers.IRSensitivity2, 2, new byte[] { 0x35, 0x03 });
break;
case IRSensitivity.WiiLevel5:
WriteData(Registers.IRSensitivity1, 9, new byte[] { 0x07, 0x00, 0x00, 0x71, 0x01, 0x00, 0x72, 0x00, 0x20 });
WriteData(Registers.IRSensitivity2, 2, new byte[] { 0x1, 0x03 });
break;
case IRSensitivity.Maximum:
WriteData(Registers.IRSensitivity1, 9, new byte[] { 0x02, 0x00, 0x00, 0x71, 0x01, 0x00, 0x90, 0x00, 0x41 });
WriteData(Registers.IRSensitivity2, 2, new byte[] { 0x40, 0x00 });
break;
default:
throw new ArgumentOutOfRangeException("irSensitivity");
}
WriteByte(Registers.IRMode, (byte)mode);
WriteByte(Registers.IR, 0x08);
}
/// <summary>
/// Turn on the IR sensor
/// </summary>
/// <param name="mode">The data report mode</param>
/// <param name="irSensitivity">IR sensitivity</param>
private void EnableIR(IRMode mode, IRSensitivity irSensitivity)
{
mWiimoteState.IRState.Mode = mode;
ClearReport();
mBuff[0] = (byte)OutputReport.IR;
mBuff[1] = (byte)(0x04 | GetRumbleBit());
WriteReport();
ClearReport();
mBuff[0] = (byte)OutputReport.IR2;
mBuff[1] = (byte)(0x04 | GetRumbleBit());
WriteReport();
WriteData(REGISTER_IR, 0x08);
switch (irSensitivity)
{
case IRSensitivity.WiiLevel1:
WriteData(REGISTER_IR_SENSITIVITY_1, 9, new byte[] { 0x02, 0x00, 0x00, 0x71, 0x01, 0x00, 0x64, 0x00, 0xfe });
WriteData(REGISTER_IR_SENSITIVITY_2, 2, new byte[] { 0xfd, 0x05 });
break;
case IRSensitivity.WiiLevel2:
WriteData(REGISTER_IR_SENSITIVITY_1, 9, new byte[] { 0x02, 0x00, 0x00, 0x71, 0x01, 0x00, 0x96, 0x00, 0xb4 });
WriteData(REGISTER_IR_SENSITIVITY_2, 2, new byte[] { 0xb3, 0x04 });
break;
case IRSensitivity.WiiLevel3:
WriteData(REGISTER_IR_SENSITIVITY_1, 9, new byte[] { 0x02, 0x00, 0x00, 0x71, 0x01, 0x00, 0xaa, 0x00, 0x64 });
WriteData(REGISTER_IR_SENSITIVITY_2, 2, new byte[] { 0x63, 0x03 });
break;
case IRSensitivity.WiiLevel4:
WriteData(REGISTER_IR_SENSITIVITY_1, 9, new byte[] { 0x02, 0x00, 0x00, 0x71, 0x01, 0x00, 0xc8, 0x00, 0x36 });
WriteData(REGISTER_IR_SENSITIVITY_2, 2, new byte[] { 0x35, 0x03 });
break;
case IRSensitivity.WiiLevel5:
WriteData(REGISTER_IR_SENSITIVITY_1, 9, new byte[] { 0x07, 0x00, 0x00, 0x71, 0x01, 0x00, 0x72, 0x00, 0x20 });
WriteData(REGISTER_IR_SENSITIVITY_2, 2, new byte[] { 0x1, 0x03 });
break;
case IRSensitivity.Maximum:
WriteData(REGISTER_IR_SENSITIVITY_1, 9, new byte[] { 0x02, 0x00, 0x00, 0x71, 0x01, 0x00, 0x90, 0x00, 0x41 });
WriteData(REGISTER_IR_SENSITIVITY_2, 2, new byte[] { 0x40, 0x00 });
break;
default:
throw new ArgumentOutOfRangeException("irSensitivity");
}
WriteData(REGISTER_IR_MODE, (byte)mode);
WriteData(REGISTER_IR, 0x08);
}
/// <summary>
/// Reads commands from the IR-Remote. This will change mode to remote
/// </summary>
/// <returns>The remote command.</returns>
public byte ReadRemoteCommand()
{
if (Mode != IRMode.Remote)
{
Mode = IRMode.Remote;
}
try
{
var ret = _brick.GetSensor((byte)Port);
return(ret[(int)Channel]);
}
catch (Exception ex) when(ex is IOException)
{
return(byte.MaxValue);
}
}
/// <summary>
/// Reads commands from the IR-Remote. This will change mode to remote
/// </summary>
/// <returns>The remote command.</returns>
public byte ReadRemoteCommand()
{
if (Mode != IRMode.Remote)
{
Mode = IRMode.Remote;
}
//return (byte)((brick.BrickPi.Sensor[(int)Port].Value >> (int)Channel) & 0x0F);
try
{
var ret = brick.get_sensor((byte)Port);
return(ret[(int)Channel]);
}
catch (Exception)
{
return(byte.MaxValue);
}
}
/// <summary>
/// Turn on the IR sensor
/// </summary>
/// <param name="mode">The data report mode</param>
private void EnableIR(IRMode mode)
{
mWiimoteState.IRState.Mode = mode;
ClearReport();
mBuff[0] = (byte)OutputReport.IR;
mBuff[1] = (byte)(0x04 | GetRumbleBit());
WriteReport();
ClearReport();
mBuff[0] = (byte)OutputReport.IR2;
mBuff[1] = (byte)(0x04 | GetRumbleBit());
WriteReport();
WriteData(REGISTER_IR, 0x08);
WriteData(REGISTER_IR_SENSITIVITY_1, 9, new byte[] { 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x90, 0x00, 0xc0 });
WriteData(REGISTER_IR_SENSITIVITY_2, 2, new byte[] { 0x40, 0x00 });
WriteData(REGISTER_IR_MODE, (byte)mode);
}
public MSSensorMUXBase(SensorPort Port, MSSensorMUXPort Address, IRMode SensorMode) : base(Port, (byte)Address, I2CMode.LowSpeed)
{
base.Initialise();
if (SensorMode == IRMode.Proximity)
{
Mode = 0;
}
else if (SensorMode == IRMode.Seek)
{
Mode = 1;
}
else if (SensorMode == IRMode.Remote)
{
Mode = 2;
}
NumberOfM = 2;
SetSensorMode();
}
/// <summary>
/// Initializes a new instance of the <see cref="MonoBrick.EV3.IRSensor"/> class.
/// </summary>
/// <param name="mode">Mode.</param>
public EV3IRSensor(SensorPort port, IRMode mode)
: base(port)
{
base.Initialise(base.uartMode);
Mode = mode;
Channel = IRChannel.One;
}
/// <summary>
/// Initializes a new instance of the <see cref="MonoBrick.EV3.IRSensor"/> class.
/// </summary>
/// <param name="mode">Mode.</param>
public IRSensor (IRMode mode) : base((SensorMode)mode)
{
}
public void SetIRMode(IRMode irMode)
{
SetIRMode(irMode, IRSensitivity.Default);
}
/// <summary>
/// Turn on the IR sensor
/// </summary>
/// <param name="mode">The data report mode</param>
/// <param name="irSensitivity">IR sensitivity</param>
private void EnableIR(IRMode mode, IRSensitivity irSensitivity)
{
mWiimoteState.IRState.Mode = mode;
ClearReport();
mBuff[0] = (byte)OutputReport.IR;
mBuff[1] = (byte)(0x04 | GetRumbleBit());
WriteReport();
ClearReport();
mBuff[0] = (byte)OutputReport.IR2;
mBuff[1] = (byte)(0x04 | GetRumbleBit());
WriteReport();
WriteData(REGISTER_IR, 0x08);
switch(irSensitivity)
{
case IRSensitivity.WiiLevel1:
WriteData(REGISTER_IR_SENSITIVITY_1, 9, new byte[] {0x02, 0x00, 0x00, 0x71, 0x01, 0x00, 0x64, 0x00, 0xfe});
WriteData(REGISTER_IR_SENSITIVITY_2, 2, new byte[] {0xfd, 0x05});
break;
case IRSensitivity.WiiLevel2:
WriteData(REGISTER_IR_SENSITIVITY_1, 9, new byte[] {0x02, 0x00, 0x00, 0x71, 0x01, 0x00, 0x96, 0x00, 0xb4});
WriteData(REGISTER_IR_SENSITIVITY_2, 2, new byte[] {0xb3, 0x04});
break;
case IRSensitivity.WiiLevel3:
WriteData(REGISTER_IR_SENSITIVITY_1, 9, new byte[] {0x02, 0x00, 0x00, 0x71, 0x01, 0x00, 0xaa, 0x00, 0x64});
WriteData(REGISTER_IR_SENSITIVITY_2, 2, new byte[] {0x63, 0x03});
break;
case IRSensitivity.WiiLevel4:
WriteData(REGISTER_IR_SENSITIVITY_1, 9, new byte[] {0x02, 0x00, 0x00, 0x71, 0x01, 0x00, 0xc8, 0x00, 0x36});
WriteData(REGISTER_IR_SENSITIVITY_2, 2, new byte[] {0x35, 0x03});
break;
case IRSensitivity.WiiLevel5:
WriteData(REGISTER_IR_SENSITIVITY_1, 9, new byte[] {0x07, 0x00, 0x00, 0x71, 0x01, 0x00, 0x72, 0x00, 0x20});
WriteData(REGISTER_IR_SENSITIVITY_2, 2, new byte[] {0x1, 0x03});
break;
case IRSensitivity.Maximum:
WriteData(REGISTER_IR_SENSITIVITY_1, 9, new byte[] {0x02, 0x00, 0x00, 0x71, 0x01, 0x00, 0x90, 0x00, 0x41});
WriteData(REGISTER_IR_SENSITIVITY_2, 2, new byte[] {0x40, 0x00});
break;
default:
throw new ArgumentOutOfRangeException("irSensitivity");
}
WriteData(REGISTER_IR_MODE, (byte)mode);
WriteData(REGISTER_IR, 0x08);
}
/// <summary>
/// Initializes a new instance of the <see cref="MonoBrick.EV3.IRSensor"/> class.
/// </summary>
/// <param name="mode">Mode.</param>
public EV3IRSensor(SensorPort port, IRMode mode) : base(port)
{
base.Initialise(base.uartMode);
Mode = mode;
Channel = IRChannel.One;
}
/// <summary>
/// Initializes an EV3 IS Sensor
/// </summary>
/// <param name="brick">Interface to main Brick component</param>
/// <param name="port">Sensor port</param>
/// <param name="mode">IR mode</param>
public EV3InfraredSensor(Brick brick, SensorPort port, IRMode mode)
: this(brick, port, mode, 1000)
{
}
/// <summary>
/// Turn on the IR sensor
/// </summary>
/// <param name="mode">The data report mode</param>
private void EnableIR(IRMode mode)
{
mWiimoteState.IRState.Mode = mode;
ClearReport();
mBuff[0] = (byte)OutputReport.IR;
mBuff[1] = (byte)(0x04 | GetRumbleBit());
WriteReport();
ClearReport();
mBuff[0] = (byte)OutputReport.IR2;
mBuff[1] = (byte)(0x04 | GetRumbleBit());
WriteReport();
WriteData(REGISTER_IR, 0x08);
WriteData(REGISTER_IR_SENSITIVITY_1, 9, new byte[] {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x90, 0x00, 0xc0});
WriteData(REGISTER_IR_SENSITIVITY_2, 2, new byte[] {0x40, 0x00});
WriteData(REGISTER_IR_MODE, (byte)mode);
}
protected override bool ParseReport(byte[] report)
{
if (report[0] < 0x20)
throw new InvalidOperationException("Received an output report!");
InputReport type = (InputReport)report[0];
if (type >= InputReport.Buttons && type <= InputReport.ButtonsAccelerometer36IrB)
{
if (type == InputReport.ButtonsAccelerometer36IrB)
ReportingMode = ReportingMode.ButtonsAccelerometer36Ir;
else
ReportingMode = (ReportingMode)type;
IRMode irMode = GetIrMode(type);
if (this._IrMode != irMode)
{
for (int i = 0; i < _CachedIRBeacons.Length; i++)
{
BasicIRBeacon newBeacon = null;
switch (irMode)
{
case IRMode.Basic:
newBeacon = new BasicIRBeacon();
break;
case IRMode.Extended:
newBeacon = new ExtendedIRBeacon();
break;
case IRMode.Full:
newBeacon = new FullIRBeacon();
break;
}
_CachedIRBeacons[i] = newBeacon;
_IRBeacons[i] = null;
}
this._IrMode = irMode;
}
}
switch (type)
{
case InputReport.Buttons:
ParseButtons(report, 1);
break;
case InputReport.ButtonsAccelerometer:
ParseButtons(report, 1);
ParseAccelerometer(report, 3);
break;
case InputReport.Buttons8Extension:
ParseButtons(report, 1);
ParseExtension(report, 3, 8);
break;
case InputReport.ButtonsAccelerometer12Ir:
{
ParseButtons(report, 1);
ParseAccelerometer(report, 3);
ExtendedIRBeacon irBeacon;
// Parse beacon 0.
irBeacon = (ExtendedIRBeacon)_CachedIRBeacons[0];
_IRBeacons[0] = ParseExtendedBeacon(report, 6, irBeacon) ? irBeacon : null;
// Parse beacon 1.
irBeacon = (ExtendedIRBeacon)_CachedIRBeacons[1];
_IRBeacons[1] = ParseExtendedBeacon(report, 9, irBeacon) ? irBeacon : null;
// Parse beacon 2.
irBeacon = (ExtendedIRBeacon)_CachedIRBeacons[2];
_IRBeacons[2] = ParseExtendedBeacon(report, 12, irBeacon) ? irBeacon : null;
// Parse beacon 3.
irBeacon = (ExtendedIRBeacon)_CachedIRBeacons[3];
_IRBeacons[3] = ParseExtendedBeacon(report, 15, irBeacon) ? irBeacon : null;
}
break;
case InputReport.Buttons19Extension:
ParseButtons(report, 1);
ParseExtension(report, 3, 19);
break;
case InputReport.ButtonsAccelerometer16Extension:
ParseButtons(report, 1);
ParseAccelerometer(report, 3);
ParseExtension(report, 6, 16);
break;
case InputReport.Buttons10Ir9Extension:
case InputReport.ButtonsAccelerometer10Ir6Extension:
{
int offset = 1;
offset += ParseButtons(report, offset);
if (type == InputReport.ButtonsAccelerometer10Ir6Extension)
offset += ParseAccelerometer(report, offset);
BasicIRBeacon irBeacon;
// Parse beacon 0.
irBeacon = _CachedIRBeacons[0];
_IRBeacons[0] = ParseBasicBeacon(report, offset, 0, irBeacon) ? irBeacon : null;
// Parse beacon 1.
irBeacon = _CachedIRBeacons[1];
_IRBeacons[1] = ParseBasicBeacon(report, offset, 1, irBeacon) ? irBeacon : null;
// Parse beacon 2.
irBeacon = _CachedIRBeacons[2];
_IRBeacons[2] = ParseBasicBeacon(report, offset + 5, 0, irBeacon) ? irBeacon : null;
// Parse beacon 3.
irBeacon = _CachedIRBeacons[3];
_IRBeacons[3] = ParseBasicBeacon(report, offset + 5, 1, irBeacon) ? irBeacon : null;
offset += 10; // Each pair of IR-beacons is 5 bytes.
if (type == InputReport.ButtonsAccelerometer10Ir6Extension)
ParseExtension(report, offset, 6);
else
ParseExtension(report, offset, 9);
}
break;
case InputReport.Extension:
ParseExtension(report, 1, 21);
break;
case InputReport.ButtonsAccelerometer36IrA:
{
ParseButtons(report, 1); // since button information is complete on both the interlaced reports it needs no temporary storage
_PartialAccelerometerX = report[3];
_PartialAccelerometerZ = (ushort)(((report[2] & 0x60) << 1) | ((report[1] & 0x60) >> 1));
_PartialIRBeaconOneResult = ParseFullBeacon(report, 4, (FullIRBeacon)_CachedIRBeacons[0]);
_PartialIRBeaconTwoResult = ParseFullBeacon(report, 13, (FullIRBeacon)_CachedIRBeacons[1]);
}
break;
case InputReport.ButtonsAccelerometer36IrB:
{
ParseButtons(report, 1);
// Complete the _PartialAccelerometerZ field
_PartialAccelerometerZ = (ushort)(_PartialAccelerometerZ | ((report[2] & 60) >> 3) | ((report[1] & 60) >> 5));
// Initialize the accelerometer if it was not yet initialized (should never happen).
if (Accelerometer == null)
ReadCalibrationData();
// Construct the new accelerometer-values from now completed data
Accelerometer.Raw.X = _PartialAccelerometerX;
Accelerometer.Raw.Y = report[3];
Accelerometer.Raw.Z = _PartialAccelerometerZ;
UpdateCalibratedAccelerometer();
FullIRBeacon irBeacon;
// Commit partial irbeacon from 'a' report
IRBeacons[0] = _PartialIRBeaconOneResult ? _CachedIRBeacons[0] : null;
// Commit partial irbeacon from 'a' report
IRBeacons[1] = _PartialIRBeaconTwoResult ? _CachedIRBeacons[1] : null;
// Parse beacon 2.
irBeacon = (FullIRBeacon)_CachedIRBeacons[2];
IRBeacons[2] = ParseFullBeacon(report, 4, irBeacon) ? irBeacon : null;
// Parse beacon 3.
irBeacon = (FullIRBeacon)_CachedIRBeacons[3];
IRBeacons[3] = ParseFullBeacon(report, 13, irBeacon) ? irBeacon : null;
}
break;
case InputReport.GetStatusResult:
ParseButtons(report, 1);
ParseStatus(report);
break;
case InputReport.ReadDataResult:
ParseButtons(report, 1);
// The rest is handled by the ReadData method (waiting for the report).
break;
case InputReport.WriteDataResult:
// The rest is handled by the WriteData method (waiting for the report).
break;
default:
Debug.WriteLine("Unknown report type: " + type.ToString("x"));
return false;
}
if ((type >= InputReport.Buttons || type == InputReport.GetStatusResult) && (type != InputReport.ButtonsAccelerometer36IrA))
OnUpdated();
return true;
}
public override void SelectNextMode()
{
Mode = Mode.Next();
return;
}
public override void SelectPreviousMode()
{
Mode = Mode.Previous();
return;
}
/// <summary>
/// Reads commands from the IR-Remote. This will change mode to remote
/// </summary>
/// <returns>The remote command.</returns>
public byte ReadRemoteCommand()
{
if (Mode != IRMode.Remote) {
Mode = IRMode.Remote;
}
return ReadBytes (4) [(int)Channel];
}
/// <summary>
/// Turn on the IR sensor
/// </summary>
/// <param name="mode">The data report mode</param>
/// <param name="irSensitivity">IR sensitivity</param>
void EnableIR(WiimoteDevice device, IRMode mode, IRSensitivity irSensitivity)
{
device.irMode = mode;
UnityEngine.Debug.Log("Sync1");
byte[] mBuff = new byte[REPORT_LENGTH];
mBuff[0] = (byte)OutputReport.IR;
mBuff[1] = (byte)(0x04 | device.RumbleBit);
_hidInterface.Write(mBuff, device.ID);
UnityEngine.Debug.Log("Sync2");
Array.Clear(mBuff, 0, mBuff.Length);
mBuff = new byte[REPORT_LENGTH];
mBuff[0] = (byte)OutputReport.IR2;
mBuff[1] = (byte)(0x04 | device.RumbleBit);
_hidInterface.Write(mBuff, device.ID);
UnityEngine.Debug.Log("Sync3");
WriteMemory(device, REGISTER_IR, 0x08);
UnityEngine.Debug.Log("Sync2x");
setSensitivity(device,irSensitivity);
UnityEngine.Debug.Log("Sync4");
WriteMemory(device, REGISTER_IR_MODE, (byte)mode);
UnityEngine.Debug.Log("Sync5");
WriteMemory(device, REGISTER_IR, 0x08);
}
/// <summary>
/// Gets the beacon location. This will change the mode to seek
/// </summary>
/// <returns>The beacon location.</returns>
public BeaconLocation ReadBeaconLocation()
{
if (Mode != IRMode.Seek) {
Mode = IRMode.Seek;
}
byte[] data = ReadBytes(4*2);
return new BeaconLocation((sbyte)data[(int)Channel*2], (sbyte)data[((int)Channel*2)+1]);
}
private void EnableIR(IRMode mode, IRSensitivity Sensitivity)
{
_WiiMoteState.IRState.Mode = mode;
ClearReport();
_Buff[0] = (byte)OutputReport.IR;
_Buff[1] = (byte)(0x04 | RumbleBit);
CHIDAPI.Write(_Handle, _Buff);
Thread.Sleep(50);
ClearReport();
_Buff[0] = (byte)OutputReport.IR2;
_Buff[1] = (byte)(0x04 | RumbleBit);
CHIDAPI.Write(_Handle, _Buff);
Thread.Sleep(50);
WriteData(REGISTER_IR, 0x08);
Thread.Sleep(50);
switch (Sensitivity)
{
case IRSensitivity.Level1:
WriteData(REGISTER_IR_SENSITIVITY_1, 9, new byte[] { 0x02, 0x00, 0x00, 0x71, 0x01, 0x00, 0x64, 0x00, 0xfe });
Thread.Sleep(50);
WriteData(REGISTER_IR_SENSITIVITY_2, 2, new byte[] { 0xfd, 0x05 });
break;
case IRSensitivity.Level2:
WriteData(REGISTER_IR_SENSITIVITY_1, 9, new byte[] { 0x02, 0x00, 0x00, 0x71, 0x01, 0x00, 0x96, 0x00, 0xb4 });
Thread.Sleep(50);
WriteData(REGISTER_IR_SENSITIVITY_2, 2, new byte[] { 0xb3, 0x04 });
break;
case IRSensitivity.Level3:
WriteData(REGISTER_IR_SENSITIVITY_1, 9, new byte[] { 0x02, 0x00, 0x00, 0x71, 0x01, 0x00, 0xaa, 0x00, 0x64 });
Thread.Sleep(50);
WriteData(REGISTER_IR_SENSITIVITY_2, 2, new byte[] { 0x63, 0x03 });
break;
case IRSensitivity.Level4:
WriteData(REGISTER_IR_SENSITIVITY_1, 9, new byte[] { 0x02, 0x00, 0x00, 0x71, 0x01, 0x00, 0xc8, 0x00, 0x36 });
Thread.Sleep(50);
WriteData(REGISTER_IR_SENSITIVITY_2, 2, new byte[] { 0x35, 0x03 });
break;
case IRSensitivity.Level5:
WriteData(REGISTER_IR_SENSITIVITY_1, 9, new byte[] { 0x07, 0x00, 0x00, 0x71, 0x01, 0x00, 0x72, 0x00, 0x20 });
Thread.Sleep(50);
WriteData(REGISTER_IR_SENSITIVITY_2, 2, new byte[] { 0x1, 0x03 });
break;
case IRSensitivity.Max:
WriteData(REGISTER_IR_SENSITIVITY_1, 9, new byte[] { 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x90, 0x00, 0x41 });
Thread.Sleep(50);
WriteData(REGISTER_IR_SENSITIVITY_2, 2, new byte[] { 0x40, 0x00 });
break;
}
Thread.Sleep(50);
WriteData(REGISTER_IR_MODE, (byte)mode);
Thread.Sleep(50);
WriteData(REGISTER_IR, 0x08);
Thread.Sleep(50);
}
public MSSensorMUXBase (SensorPort Port, MSSensorMUXPort Address, IRMode SensorMode) : base (Port, (byte)Address, I2CMode.LowSpeed)
{
base.Initialise ();
if (SensorMode == IRMode.Proximity)
Mode = 0;
else if (SensorMode == IRMode.Seek)
Mode = 1;
else if (SensorMode == IRMode.Remote)
Mode = 2;
NumberOfM = 2;
SetSensorMode ();
}
private void EnableIR(IRMode mode, IRSensitivity irSensitivity)
{
this.mWiimoteState.IRState.Mode = mode;
this.ClearReport();
this.mBuff[0] = 19;
this.mBuff[1] = (byte)(4 | this.GetRumbleBit());
this.WriteReport();
this.ClearReport();
this.mBuff[0] = 26;
this.mBuff[1] = (byte)(4 | this.GetRumbleBit());
this.WriteReport();
this.WriteData(78643248, 8);
switch (irSensitivity)
{
case IRSensitivity.WiiLevel1:
this.WriteData(78643200, 9, new byte[]
{
2,
0,
0,
113,
1,
0,
100,
0,
254
});
this.WriteData(78643226, 2, new byte[]
{
253,
5
});
break;
case IRSensitivity.WiiLevel2:
this.WriteData(78643200, 9, new byte[]
{
2,
0,
0,
113,
1,
0,
150,
0,
180
});
this.WriteData(78643226, 2, new byte[]
{
179,
4
});
break;
case IRSensitivity.WiiLevel3:
this.WriteData(78643200, 9, new byte[]
{
2,
0,
0,
113,
1,
0,
170,
0,
100
});
this.WriteData(78643226, 2, new byte[]
{
99,
3
});
break;
case IRSensitivity.WiiLevel4:
this.WriteData(78643200, 9, new byte[]
{
2,
0,
0,
113,
1,
0,
200,
0,
54
});
this.WriteData(78643226, 2, new byte[]
{
53,
3
});
break;
case IRSensitivity.WiiLevel5:
this.WriteData(78643200, 9, new byte[]
{
7,
0,
0,
113,
1,
0,
114,
0,
32
});
this.WriteData(78643226, 2, new byte[]
{
1,
3
});
break;
case IRSensitivity.Maximum:
{
this.WriteData(78643200, 9, new byte[]
{
2,
0,
0,
113,
1,
0,
144,
0,
65
});
int arg_215_1 = 78643226;
byte arg_215_2 = 2;
byte[] array = new byte[2];
array[0] = 64;
this.WriteData(arg_215_1, arg_215_2, array);
break;
}
default:
throw new ArgumentOutOfRangeException("irSensitivity");
}
this.WriteData(78643251, (byte)mode);
this.WriteData(78643248, 8);
}
/// <summary>
/// Initializes an EV3 IS Sensor
/// </summary>
/// <param name="mode">IR mode</param>
public EV3IRSensor(BrickPortSensor port, IRMode mode)
: this(port, mode, 1000)
{
}
public void SetIRMode(IRMode irMode, IRSensitivity sensitivity)
{
bool enabled = (irMode != IRMode.Off);
// Enable Pixel Clock.
CreateReport(OutputReport.SetPixelClock);
OutputBuffer[1] = (byte)(enabled ? 0x04 : 0x00);
SendReport();
// Enable IR Logic.
CreateReport(OutputReport.SetCamera);
OutputBuffer[1] = (byte)(enabled ? 0x04 : 0x00);
SendReport();
// No need to configure the camera when it is disabled.
if (enabled)
{
// Configure the camera.
WriteMemory(0x04b00030, 0x08);
if (sensitivity != null)
{
// Set sensitivity configuration.
WriteMemory(0x4b00000, sensitivity.ConfigurationBlock1);
WriteMemory(0x4b0001a, sensitivity.ConfigurationBlock2);
}
// Set the ir-mode
WriteMemory(0x04b00033, (byte)irMode);
}
_IrSensorEnabled = enabled;
}
/// <summary>
/// Initializes a new instance of the <see cref="MonoBrick.EV3.IRSensor"/> class.
/// </summary>
/// <param name="mode">Mode.</param>
public IRSensor(IRMode mode) : base((SensorMode)mode)
{
}
/// <summary>
/// Turn on the IR sensor
/// </summary>
/// <param name="mode">The data report mode</param>
private void EnableIR(IRMode mode)
{
mWiimoteState.IRState.Mode = mode;
ClearReport();
mBuff[0] = (byte)OutputReport.IR;
mBuff[1] = (byte)(0x04 | GetRumbleBit());
WriteReport();
ClearReport();
mBuff[0] = (byte)OutputReport.IR2;
mBuff[1] = (byte)(0x04 | GetRumbleBit());
WriteReport();
WriteData(REGISTER_IR, 0x08);
//default
// WriteData(REGISTER_IR_SENSITIVITY_1, 9, new byte[] {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x90, 0x00, 0xc0});
// WriteData(REGISTER_IR_SENSITIVITY_2, 2, new byte[] {0x40, 0x00});
//super sensitive according to http://wiibrew.org/index.php?title=Wiimote#Sensitivity_Settings
WriteData(REGISTER_IR_SENSITIVITY_1, 9, new byte[] { 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x90, 0x00, 0x41 });
WriteData(REGISTER_IR_SENSITIVITY_2, 2, new byte[] { 0x40, 0x00 });
WriteData(REGISTER_IR_MODE, (byte)mode);
}
private void EnableIR(IRMode mode, IRSensitivity Sensitivity)
{
_WiiMoteState.IRState.Mode = mode;
ClearReport();
_Buff[0] = (byte)OutputReport.IR;
_Buff[1] = (byte)(0x04 | RumbleBit);
CHIDAPI.Write(_Handle, _Buff);
Thread.Sleep(50);
ClearReport();
_Buff[0] = (byte)OutputReport.IR2;
_Buff[1] = (byte)(0x04 | RumbleBit);
CHIDAPI.Write(_Handle, _Buff);
Thread.Sleep(50);
WriteData(REGISTER_IR, 0x08);
Thread.Sleep(50);
switch(Sensitivity)
{
case IRSensitivity.Level1:
WriteData(REGISTER_IR_SENSITIVITY_1, 9, new byte[] {0x02, 0x00, 0x00, 0x71, 0x01, 0x00, 0x64, 0x00, 0xfe});
Thread.Sleep(50);
WriteData(REGISTER_IR_SENSITIVITY_2, 2, new byte[] {0xfd, 0x05});
break;
case IRSensitivity.Level2:
WriteData(REGISTER_IR_SENSITIVITY_1, 9, new byte[] {0x02, 0x00, 0x00, 0x71, 0x01, 0x00, 0x96, 0x00, 0xb4});
Thread.Sleep(50);
WriteData(REGISTER_IR_SENSITIVITY_2, 2, new byte[] {0xb3, 0x04});
break;
case IRSensitivity.Level3:
WriteData(REGISTER_IR_SENSITIVITY_1, 9, new byte[] {0x02, 0x00, 0x00, 0x71, 0x01, 0x00, 0xaa, 0x00, 0x64});
Thread.Sleep(50);
WriteData(REGISTER_IR_SENSITIVITY_2, 2, new byte[] {0x63, 0x03});
break;
case IRSensitivity.Level4:
WriteData(REGISTER_IR_SENSITIVITY_1, 9, new byte[] {0x02, 0x00, 0x00, 0x71, 0x01, 0x00, 0xc8, 0x00, 0x36});
Thread.Sleep(50);
WriteData(REGISTER_IR_SENSITIVITY_2, 2, new byte[] {0x35, 0x03});
break;
case IRSensitivity.Level5:
WriteData(REGISTER_IR_SENSITIVITY_1, 9, new byte[] {0x07, 0x00, 0x00, 0x71, 0x01, 0x00, 0x72, 0x00, 0x20});
Thread.Sleep(50);
WriteData(REGISTER_IR_SENSITIVITY_2, 2, new byte[] {0x1, 0x03});
break;
case IRSensitivity.Max:
WriteData(REGISTER_IR_SENSITIVITY_1, 9, new byte[] {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x90, 0x00, 0x41});
Thread.Sleep(50);
WriteData(REGISTER_IR_SENSITIVITY_2, 2, new byte[] {0x40, 0x00});
break;
}
Thread.Sleep(50);
WriteData(REGISTER_IR_MODE, (byte)mode);
Thread.Sleep(50);
WriteData(REGISTER_IR, 0x08);
Thread.Sleep(50);
}
public void SetIRMode(IRMode irMode)
{
SetIRMode(irMode, IRSensitivity.Default);
}
/// <summary>
/// Initializes an EV3 IS Sensor
/// </summary>
/// <param name="mode">IR mode</param>
public EV3IRSensor(BrickPortSensor port, IRMode mode) : this(port, mode, 1000)
{
}
protected override bool ParseReport(byte[] report)
{
if (report[0] < 0x20)
{
throw new InvalidOperationException("Received an output report!");
}
InputReport type = (InputReport)report[0];
if (type >= InputReport.Buttons && type <= InputReport.ButtonsAccelerometer36IrB)
{
if (type == InputReport.ButtonsAccelerometer36IrB)
{
ReportingMode = ReportingMode.ButtonsAccelerometer36Ir;
}
else
{
ReportingMode = (ReportingMode)type;
}
IRMode irMode = GetIrMode(type);
if (this._IrMode != irMode)
{
for (int i = 0; i < _CachedIRBeacons.Length; i++)
{
BasicIRBeacon newBeacon = null;
switch (irMode)
{
case IRMode.Basic:
newBeacon = new BasicIRBeacon();
break;
case IRMode.Extended:
newBeacon = new ExtendedIRBeacon();
break;
case IRMode.Full:
newBeacon = new FullIRBeacon();
break;
}
_CachedIRBeacons[i] = newBeacon;
_IRBeacons[i] = null;
}
this._IrMode = irMode;
}
}
switch (type)
{
case InputReport.Buttons:
ParseButtons(report, 1);
break;
case InputReport.ButtonsAccelerometer:
ParseButtons(report, 1);
ParseAccelerometer(report, 3);
break;
case InputReport.Buttons8Extension:
ParseButtons(report, 1);
ParseExtension(report, 3, 8);
break;
case InputReport.ButtonsAccelerometer12Ir:
{
ParseButtons(report, 1);
ParseAccelerometer(report, 3);
ExtendedIRBeacon irBeacon;
// Parse beacon 0.
irBeacon = (ExtendedIRBeacon)_CachedIRBeacons[0];
_IRBeacons[0] = ParseExtendedBeacon(report, 6, irBeacon) ? irBeacon : null;
// Parse beacon 1.
irBeacon = (ExtendedIRBeacon)_CachedIRBeacons[1];
_IRBeacons[1] = ParseExtendedBeacon(report, 9, irBeacon) ? irBeacon : null;
// Parse beacon 2.
irBeacon = (ExtendedIRBeacon)_CachedIRBeacons[2];
_IRBeacons[2] = ParseExtendedBeacon(report, 12, irBeacon) ? irBeacon : null;
// Parse beacon 3.
irBeacon = (ExtendedIRBeacon)_CachedIRBeacons[3];
_IRBeacons[3] = ParseExtendedBeacon(report, 15, irBeacon) ? irBeacon : null;
}
break;
case InputReport.Buttons19Extension:
ParseButtons(report, 1);
ParseExtension(report, 3, 19);
break;
case InputReport.ButtonsAccelerometer16Extension:
ParseButtons(report, 1);
ParseAccelerometer(report, 3);
ParseExtension(report, 6, 16);
break;
case InputReport.Buttons10Ir9Extension:
case InputReport.ButtonsAccelerometer10Ir6Extension:
{
int offset = 1;
offset += ParseButtons(report, offset);
if (type == InputReport.ButtonsAccelerometer10Ir6Extension)
{
offset += ParseAccelerometer(report, offset);
}
BasicIRBeacon irBeacon;
// Parse beacon 0.
irBeacon = _CachedIRBeacons[0];
_IRBeacons[0] = ParseBasicBeacon(report, offset, 0, irBeacon) ? irBeacon : null;
// Parse beacon 1.
irBeacon = _CachedIRBeacons[1];
_IRBeacons[1] = ParseBasicBeacon(report, offset, 1, irBeacon) ? irBeacon : null;
// Parse beacon 2.
irBeacon = _CachedIRBeacons[2];
_IRBeacons[2] = ParseBasicBeacon(report, offset + 5, 0, irBeacon) ? irBeacon : null;
// Parse beacon 3.
irBeacon = _CachedIRBeacons[3];
_IRBeacons[3] = ParseBasicBeacon(report, offset + 5, 1, irBeacon) ? irBeacon : null;
offset += 10; // Each pair of IR-beacons is 5 bytes.
if (type == InputReport.ButtonsAccelerometer10Ir6Extension)
{
ParseExtension(report, offset, 6);
}
else
{
ParseExtension(report, offset, 9);
}
}
break;
case InputReport.Extension:
ParseExtension(report, 1, 21);
break;
case InputReport.ButtonsAccelerometer36IrA:
{
ParseButtons(report, 1); // since button information is complete on both the interlaced reports it needs no temporary storage
_PartialAccelerometerX = report[3];
_PartialAccelerometerZ = (ushort)(((report[2] & 0x60) << 1) | ((report[1] & 0x60) >> 1));
_PartialIRBeaconOneResult = ParseFullBeacon(report, 4, (FullIRBeacon)_CachedIRBeacons[0]);
_PartialIRBeaconTwoResult = ParseFullBeacon(report, 13, (FullIRBeacon)_CachedIRBeacons[1]);
}
break;
case InputReport.ButtonsAccelerometer36IrB:
{
ParseButtons(report, 1);
// Complete the _PartialAccelerometerZ field
_PartialAccelerometerZ = (ushort)(_PartialAccelerometerZ | ((report[2] & 60) >> 3) | ((report[1] & 60) >> 5));
// Initialize the accelerometer if it was not yet initialized (should never happen).
if (Accelerometer == null)
{
ReadCalibrationData();
}
// Construct the new accelerometer-values from now completed data
Accelerometer.Raw.X = _PartialAccelerometerX;
Accelerometer.Raw.Y = report[3];
Accelerometer.Raw.Z = _PartialAccelerometerZ;
UpdateCalibratedAccelerometer();
FullIRBeacon irBeacon;
// Commit partial irbeacon from 'a' report
IRBeacons[0] = _PartialIRBeaconOneResult ? _CachedIRBeacons[0] : null;
// Commit partial irbeacon from 'a' report
IRBeacons[1] = _PartialIRBeaconTwoResult ? _CachedIRBeacons[1] : null;
// Parse beacon 2.
irBeacon = (FullIRBeacon)_CachedIRBeacons[2];
IRBeacons[2] = ParseFullBeacon(report, 4, irBeacon) ? irBeacon : null;
// Parse beacon 3.
irBeacon = (FullIRBeacon)_CachedIRBeacons[3];
IRBeacons[3] = ParseFullBeacon(report, 13, irBeacon) ? irBeacon : null;
}
break;
case InputReport.GetStatusResult:
ParseButtons(report, 1);
ParseStatus(report);
break;
case InputReport.ReadDataResult:
ParseButtons(report, 1);
// The rest is handled by the ReadData method (waiting for the report).
break;
case InputReport.WriteDataResult:
// The rest is handled by the WriteData method (waiting for the report).
break;
default:
Debug.WriteLine("Unknown report type: " + type.ToString("x"));
return(false);
}
if ((type >= InputReport.Buttons || type == InputReport.GetStatusResult) && (type != InputReport.ButtonsAccelerometer36IrA))
{
OnUpdated();
}
return(true);
}
/// <summary>
/// Turn on the IR sensor
/// </summary>
/// <param name="mode">The data report mode</param>
/// <param name="irSensitivity">IR sensitivity</param>
private void EnableIR(IRMode mode, IRSensitivity irSensitivity)
{
mWiimoteState.Status.IREnabled = true;
mWiimoteState.IRState.Mode = mode;
/*byte[] buff = CreateReport();
* buff[0] = (byte) OutputReport.IR1;
* buff[1] = (byte) (0x04 | GetRumbleBit());
* WriteReport(buff);
*
* Array.Clear(buff, 0, buff.Length);
* buff[0] = (byte) OutputReport.IR2;
* buff[1] = (byte) (0x04 | GetRumbleBit());
* WriteReport(buff);*/
byte[] buff = CreateReport2();
buff[0] = (byte)(0x04 | GetRumbleBit());
WriteReport2(OutputReport.IR1, buff);
Array.Clear(buff, 0, buff.Length);
buff[0] = (byte)(0x04 | GetRumbleBit());
WriteReport2(OutputReport.IR2, buff);
WriteData(Registers.IR, 0x08);
switch (irSensitivity)
{
case IRSensitivity.WiiLevel1:
WriteData(Registers.IRSensitivity1, 9, new byte[] { 0x02, 0x00, 0x00, 0x71, 0x01, 0x00, 0x64, 0x00, 0xfe });
WriteData(Registers.IRSensitivity2, 2, new byte[] { 0xfd, 0x05 });
break;
case IRSensitivity.WiiLevel2:
WriteData(Registers.IRSensitivity1, 9, new byte[] { 0x02, 0x00, 0x00, 0x71, 0x01, 0x00, 0x96, 0x00, 0xb4 });
WriteData(Registers.IRSensitivity2, 2, new byte[] { 0xb3, 0x04 });
break;
case IRSensitivity.WiiLevel3:
WriteData(Registers.IRSensitivity1, 9, new byte[] { 0x02, 0x00, 0x00, 0x71, 0x01, 0x00, 0xaa, 0x00, 0x64 });
WriteData(Registers.IRSensitivity2, 2, new byte[] { 0x63, 0x03 });
break;
case IRSensitivity.WiiLevel4:
WriteData(Registers.IRSensitivity1, 9, new byte[] { 0x02, 0x00, 0x00, 0x71, 0x01, 0x00, 0xc8, 0x00, 0x36 });
WriteData(Registers.IRSensitivity2, 2, new byte[] { 0x35, 0x03 });
break;
case IRSensitivity.WiiLevel5:
WriteData(Registers.IRSensitivity1, 9, new byte[] { 0x07, 0x00, 0x00, 0x71, 0x01, 0x00, 0x72, 0x00, 0x20 });
WriteData(Registers.IRSensitivity2, 2, new byte[] { 0x1, 0x03 });
break;
case IRSensitivity.Maximum:
WriteData(Registers.IRSensitivity1, 9, new byte[] { 0x02, 0x00, 0x00, 0x71, 0x01, 0x00, 0x90, 0x00, 0x41 });
WriteData(Registers.IRSensitivity2, 2, new byte[] { 0x40, 0x00 });
break;
default:
throw new ArgumentOutOfRangeException("irSensitivity");
}
WriteData(Registers.IRMode, (byte)mode);
WriteData(Registers.IR, 0x08);
}
/// <summary>
/// Read the distance of the sensor in CM (0-100). This will change mode to proximity
/// </summary>
public int ReadDistance()
{
if (Mode != IRMode.Proximity) {
Mode = IRMode.Proximity;
}
return ReadByte();
}
/// <summary>
/// Initialize an EV3 IR Sensor
/// </summary>
/// <param name="port">Sensor port</param>
/// <param name="mode">IR mode</param>
/// <param name="timeout">Period in millisecond to check sensor value changes</param>
public EV3IRSensor(BrickPortSensor port, IRMode mode, int timeout)
{
brick = new Brick();
Mode = mode;
Channel = IRChannel.One;
brick.BrickPi.Sensor[(int)Port].Type = (BrickSensorType)mode;
periodRefresh = timeout;
timer = new Timer(UpdateSensor, this, TimeSpan.FromMilliseconds(timeout), TimeSpan.FromMilliseconds(timeout));
}
