/// <summary>
/// Power On
/// </summary>
public ULA()
{
_cpuCLK = SignalState.LOW;
_cpuINT = SignalState.HIGH;
Address = new BusConnector <ushort>();
Data = new BusConnector <byte>();
VideoAddress = new BusConnector <ushort>();
VideoData = new BusConnector <byte>();
_videoMREQ = SignalState.HIGH;
_videoRD = SignalState.HIGH;
ColorSignal = new AnalogOutputPin <byte>(0);
_hSync = SignalState.HIGH;
_vSync = SignalState.HIGH;
KeyboardData = new BusConnector <byte>();
_keyboardRD = SignalState.HIGH;
SpeakerSoundSignal = new AnalogOutputPin <byte>(0);
_soundSampleCLK = SignalState.HIGH;
TapeInputSignal = new AnalogInputPin <byte>();
TapeOuputSignal = new AnalogOutputPin <byte>(0);
}
public static void Run()
{
var scope = new DebugScope();
//scope.UpdatePeriod.Value = 1;
var accel = new Memsic2125();
accel.XPwmInput.ConnectTo(new DigitalInputPin(Pins.GPIO_PIN_D6).Output);
accel.YPwmInput.ConnectTo(new DigitalInputPin(Pins.GPIO_PIN_D7).Output);
scope.ConnectTo(accel.XAccelerationOutput);
scope.ConnectTo(accel.YAccelerationOutput);
var compass = new Grove3AxisDigitalCompass();
scope.ConnectTo(compass.XGaussOutput);
scope.ConnectTo(compass.YGaussOutput);
scope.ConnectTo(compass.ZGaussOutput);
var a0 = new AnalogInputPin(AnalogChannels.ANALOG_PIN_A0);
scope.ConnectTo(a0.Analog);
var sharp = new SharpGP2D12();
a0.Analog.ConnectTo(sharp.AnalogInput);
scope.ConnectTo(sharp.DistanceOutput);
var therm = new Thermistor();
therm.AnalogInput.ConnectTo(a0.Analog);
scope.ConnectTo(therm.Temperature);
var b = new CelsiusToFahrenheit();
therm.Temperature.ConnectTo(b.Celsius);
scope.ConnectTo(b.Fahrenheit);
var bmp = new Bmp085();
scope.ConnectTo(bmp.Temperature);
var b2 = new CelsiusToFahrenheit();
bmp.Temperature.ConnectTo(b2.Celsius);
scope.ConnectTo(b2.Fahrenheit);
for (; ;)
{
Debug.Print("Tick");
Thread.Sleep(1000);
}
}
/// <summary>
/// Power On
/// </summary>
public Screen()
{
ColorSignal = new AnalogInputPin <byte>();
// To help unit tests, we pretend that the screen is already
// synchronized with the ULA during the first frame
Line = 56;
Column = 32 /* Offset : because of the time necessary to read the first pixels in video memory, color output begins only 13 cycles after the master counter */ - 13 /* Offset : C0 is directly used to drive CPU clock, but CPU T state starts with High state while ULA counter should start with C0 low */ + 1;
BlankingPeriod = false;
// Initialize black screen
Display = new byte[WIDTH * HEIGHT / 2];
internalDisplayIndex = (Line * WIDTH + Column) / 2;
}
/// <summary>
/// Power On
/// </summary>
public Screen()
{
ColorSignal = new AnalogInputPin<byte>();
// To help unit tests, we pretend that the screen is already
// synchronized with the ULA during the first frame
Line = 56;
Column = 32 /* Offset : because of the time necessary to read the first pixels in video memory, color output begins only 13 cycles after the master counter */ - 13 /* Offset : C0 is directly used to drive CPU clock, but CPU T state starts with High state while ULA counter should start with C0 low */ + 1;
BlankingPeriod = false;
// Initialize black screen
Display = new byte[WIDTH * HEIGHT / 2];
internalDisplayIndex = (Line * WIDTH + Column) / 2;
}
public Speaker()
{
SoundSignal = new AnalogInputPin<byte>();
}
/// <summary>
/// Creates an instance.
/// </summary>
/// <param name="pin">The ADC input pin to be read by this object.</param>
public AnalogAdcInput(AnalogInputPin pin)
{
_channel = AdcController.GetDefault().OpenChannel((int)pin);
}
/// <summary>
/// Power On
/// </summary>
public ULA()
{
_cpuCLK = SignalState.LOW;
_cpuINT = SignalState.HIGH;
Address = new BusConnector<ushort>();
Data = new BusConnector<byte>();
VideoAddress = new BusConnector<ushort>();
VideoData = new BusConnector<byte>();
_videoMREQ = SignalState.HIGH;
_videoRD = SignalState.HIGH;
ColorSignal = new AnalogOutputPin<byte>(0);
_hSync = SignalState.HIGH;
_vSync = SignalState.HIGH;
KeyboardData = new BusConnector<byte>();
_keyboardRD = SignalState.HIGH;
SpeakerSoundSignal = new AnalogOutputPin<byte>(0);
_soundSampleCLK = SignalState.HIGH;
TapeInputSignal = new AnalogInputPin<byte>();
TapeOuputSignal = new AnalogOutputPin<byte>(0);
}
public static void Run()
{
//
// Start with the basic robot
//
var leftMotor = HBridgeMotor.CreateForNetduino(PWMChannels.PWM_PIN_D3, Pins.GPIO_PIN_D1, Pins.GPIO_PIN_D2);
var rightMotor = HBridgeMotor.CreateForNetduino(PWMChannels.PWM_PIN_D6, Pins.GPIO_PIN_D4, Pins.GPIO_PIN_D5);
var robot = new TwoWheeledRobot(leftMotor, rightMotor);
//
// Create a range finder and scope it
//
var scope = new DebugScope();
var a0 = new AnalogInputPin(AnalogChannels.ANALOG_PIN_A0, 10);
scope.ConnectTo(a0.Analog);
var sharp = new SharpGP2D12();
a0.Analog.ConnectTo(sharp.AnalogInput);
scope.ConnectTo(sharp.DistanceOutput);
scope.ConnectTo(robot.SpeedInput);
//
// This is the cruising (unobstructed) speed
//
var distanceToSpeed = new Transform(distance => {
const double min = 0.1;
const double max = 0.5;
if (distance > max)
{
return(1.0);
}
else if (distance < min)
{
return(0.0);
}
return((distance - min) / (max - min));
});
distanceToSpeed.Input.ConnectTo(sharp.DistanceOutput);
//
// Take different actions depending on our environment:
// 0: cruising
// 1: collided
//
var sw = new Switch(
new [] {
new Connection(distanceToSpeed.Output, robot.SpeedInput),
new Connection(new SineWave(0.5, 0.333, 0, updateFrequency: 10).Output, robot.DirectionInput),
new Connection(new Constant(0).Output, robot.SpinInput),
},
new[] {
new Connection(new Constant(0.6).Output, robot.SpinInput),
new Connection(new Constant(0).Output, robot.DirectionInput),
new Connection(new Constant(0).Output, robot.SpeedInput),
});
var collided = new Transform(distance => distance < 0.2 ? 1 : 0);
collided.Input.ConnectTo(sharp.DistanceOutput);
collided.Output.ConnectTo(sw.Input);
//
// Loop to keep us alive
//
for (; ;)
{
//Debug.Print ("TwoWheeled Tick");
Thread.Sleep(1000);
}
}
public Speaker()
{
SoundSignal = new AnalogInputPin <byte>();
}
public override void ClosePin(AnalogInputPin pin)
{
_board.Firmata.DisableAnalogReporting(pin.PinNumber);
}
new public void Setup()
{
_pin = new AnalogInputPin(1, _mockParent.Object, 0, 200);
}
public void Setup()
{
_mockParent = new Mock <IAnalogInputDevice>(MockBehavior.Strict);
_pin = new AnalogInputPin(1, _mockParent.Object);
}