private async void Setup()
{
_mainboard = await GT.Module.CreateAsync <GTMB.FEZCream>();
_extender = await GT.Module.CreateAsync <GTMO.Extender>(_mainboard.GetProvidedSocket(8));
_colorPin0 = await _extender.CreateDigitalIOAsync(GT.SocketPinNumber.Three, false);
_colorPin1 = await _extender.CreateDigitalIOAsync(GT.SocketPinNumber.Four, false);
_colorPin2 = await _extender.CreateDigitalIOAsync(GT.SocketPinNumber.Five, false);
_colorPin3 = await _extender.CreateDigitalIOAsync(GT.SocketPinNumber.Six, false);
}
private async void Setup()
{
this.mainboard = await GT.Module.CreateAsync <GTMB.FEZCream>();
this.motor = await GT.Module.CreateAsync <GTMO.MotorDriverL298>(this.mainboard.GetProvidedSocket(8));
this.breakout = await GT.Module.CreateAsync <GTMO.BreakoutTB10>(this.mainboard.GetProvidedSocket(4));
this.RedLed = await breakout.CreateDigitalIOAsync(GHIElectronics.UWP.GadgeteerCore.SocketPinNumber.Eight, false);
this.GreenLed = await breakout.CreateDigitalIOAsync(GHIElectronics.UWP.GadgeteerCore.SocketPinNumber.Nine, false);
this.Buzz = await breakout.CreateDigitalIOAsync(GHIElectronics.UWP.GadgeteerCore.SocketPinNumber.Seven, false);
this.timer = new DispatcherTimer();
this.timer.Interval = TimeSpan.FromMilliseconds(100);
this.timer.Start();
Mobil = new MobilRemote();
this.timer.Tick += (a, b) =>
{
/*
* double x, y, z;
*
* this.hat.GetAcceleration(out x, out y, out z);
*
* this.LightTextBox.Text = this.hat.GetLightLevel().ToString("P2");
* this.TempTextBox.Text = this.hat.GetTemperature().ToString("N2");
* this.AccelTextBox.Text = $"({x:N2}, {y:N2}, {z:N2})";
* this.Button18TextBox.Text = this.hat.IsDIO18Pressed().ToString();
* this.Button22TextBox.Text = this.hat.IsDIO22Pressed().ToString();
* this.AnalogTextBox.Text = this.hat.ReadAnalog(GIS.FEZHAT.AnalogPin.Ain1).ToString("N2");
*/
if (isNavigating)
{
return;
}
isNavigating = true;
//this.hat.D2.Color = GIS.FEZHAT.Color.Black;
//this.hat.D3.Color = GIS.FEZHAT.Color.Black;
switch (Mobil.Arah)
{
case MobilRemote.ArahJalan.Maju:
this.motor.SetSpeed(GHIElectronics.UWP.Gadgeteer.Modules.MotorDriverL298.Motor.Motor1, 1.0);
this.motor.SetSpeed(GHIElectronics.UWP.Gadgeteer.Modules.MotorDriverL298.Motor.Motor2, 1.0);
GreenLed.Write(true);
RedLed.Write(false);
Buzz.Write(false);
break;
case MobilRemote.ArahJalan.Mundur:
this.motor.SetSpeed(GHIElectronics.UWP.Gadgeteer.Modules.MotorDriverL298.Motor.Motor1, -1.0);
this.motor.SetSpeed(GHIElectronics.UWP.Gadgeteer.Modules.MotorDriverL298.Motor.Motor2, -1.0);
GreenLed.Write(false);
RedLed.Write(true);
Buzz.Write(false);
break;
case MobilRemote.ArahJalan.Kiri:
this.motor.SetSpeed(GHIElectronics.UWP.Gadgeteer.Modules.MotorDriverL298.Motor.Motor1, -0.7);
this.motor.SetSpeed(GHIElectronics.UWP.Gadgeteer.Modules.MotorDriverL298.Motor.Motor2, 0.7);
GreenLed.Write(false);
RedLed.Write(false);
Buzz.Write(false);
break;
case MobilRemote.ArahJalan.Kanan:
this.motor.SetSpeed(GHIElectronics.UWP.Gadgeteer.Modules.MotorDriverL298.Motor.Motor1, 0.7);
this.motor.SetSpeed(GHIElectronics.UWP.Gadgeteer.Modules.MotorDriverL298.Motor.Motor2, -0.7);
GreenLed.Write(false);
RedLed.Write(false);
Buzz.Write(false);
break;
case MobilRemote.ArahJalan.Stop:
this.motor.SetSpeed(GHIElectronics.UWP.Gadgeteer.Modules.MotorDriverL298.Motor.Motor1, 0.0);
this.motor.SetSpeed(GHIElectronics.UWP.Gadgeteer.Modules.MotorDriverL298.Motor.Motor2, 0.0);
GreenLed.Write(false);
RedLed.Write(false);
Buzz.Write(false);
break;
}
isNavigating = false;
};
timer.Start();
client = new MqttClient(MQTT_BROKER_ADDRESS);
string clientId = Guid.NewGuid().ToString();
client.Connect(clientId);
SubscribeMessage();
}
