public async void Run(IBackgroundTaskInstance taskInstance)
{
deferal = taskInstance.GetDeferral();
brick = await Brick.InitializeInstance("Uart0");
InitGpio(brick);
brick.Arduino1Led.Toggle();
if (!await brick.InitializeSensors())
{
Debug.WriteLine("Something went wrong initializing sensors");
}
int version = await brick.GetBrickVersion();
Debug.WriteLine(string.Format("Brick Version: {0}", version));
bool timeoutSuccess = await brick.SetTimeout(200);
Debug.WriteLine(string.Format("Setting timeout succesfully: {0}", timeoutSuccess));
touch = new NXTTouchSensor(SensorPort.Port_S1, SensorType.TOUCH_DEBOUNCE);
touch.OnPressed += Touch_OnPressed;
touch.OnReleased += Touch_OnReleased;
touch.OnChanged += Touch_OnChanged;
await brick.Sensors.Add(touch, true);
ultrasonic = new NXTUltraSonicSensor(SensorPort.Port_S2, SensorType.ULTRASONIC_CONT);
ultrasonic.Threshold = 5;
await brick.Sensors.Add(ultrasonic, true);
#if COLOR
color = new NXTColorSensor(SensorPort.Port_S4, SensorType.COLOR_FULL);
await brick.Sensors.Add(color, true);
color = new NXTColorSensor(SensorPort.Port_S3, SensorType.COLOR_FULL);
await brick.Sensors.Add(color, true);
#else
color = new NXTColorSensor(SensorPort.Port_S3, SensorType.COLOR_RED);
await brick.Sensors.Add(color, true);
#endif
// color.PropertyChanged += Color_PropertyChanged;
if (!await brick.InitializeSensors())
{
Debug.WriteLine("Something went wrong initializing sensors");
}
brick.Start();
//while (true)
//{
// await brick.UpdateValues();
// await Task.Delay(1000);
//}
//motorA.SetTachoCount(motorA.GetTachoCount());
//await brick.Stop();
await Task.Delay(5000);
//brick.Start();
}
//TODO build test for EV3 Ultra Sound
private async Task TestNXTUS()
{
NXTUltraSonicSensor ultra = new NXTUltraSonicSensor(BrickPortSensor.PORT_S4);
for (int i = 0; i < ultra.NumberOfModes(); i++)
{
int count = 0;
while (count < 100)
{
Debug.WriteLine(string.Format("NXT US, Distance: {0}, ReadAsString: {1}, Selected mode: {2}",
ultra.ReadDistance(), ultra.ReadAsString(), ultra.SelectedMode()));
await Task.Delay(300);
}
ultra.SelectNextMode();
}
}
private static void TestNXTUS()
{
Console.WriteLine("Running NXT Ultrasonic sensor test on port 4. Uses all the modes and read 50 times.");
NXTUltraSonicSensor ultra = new NXTUltraSonicSensor(_brick, SensorPort.Port4);
for (int i = 0; i < ultra.NumberOfModes(); i++)
{
int count = 0;
while (count < 50)
{
Console.WriteLine($"NXT Ultrasound, Distance: {ultra.ReadDistance()}, ReadAsString: {ultra.ReadAsString()}, Selected mode: {ultra.SelectedMode()}");
Thread.Sleep(2000);
count++;
}
ultra.SelectNextMode();
}
}
private async Task LunchFollowMe()
{
EV3TouchSensor touch = new EV3TouchSensor(BrickPortSensor.PORT_S1);
NXTUltraSonicSensor ultra = new NXTUltraSonicSensor(BrickPortSensor.PORT_S3, UltraSonicMode.Centimeter);
robot = new Vehicule(BrickPortMotor.PORT_B, BrickPortMotor.PORT_C);
while (!touch.IsPressed())
{
int valultra = ultra.Value;
if ((valultra < 70) && (valultra != 0))
{
Debug.WriteLine($"Taking picture, distance {valultra} cm");
await MakePicture();
}
await Task.Delay(10);
}
Debug.Write("end of face tracking and detection");
}
