public SensorsControllerPlucky(IAbstractRobotHardware brick, double _mainLoopCycleMs)
{
hardwareBrick = brick;
mainLoopCycleMs = _mainLoopCycleMs;
RPiCameraSensor = new RPiCamera("RPiCamera", 9097);
}
public SensorsControllerPlucky(IAbstractRobotHardware brick, double _mainLoopCycleMs)
{
hardwareBrick = brick;
mainLoopCycleMs = _mainLoopCycleMs;
RPiCameraSensor = new RPiCamera("RPiCamera", 9097);
}
public SensorsControllerShorty(IAbstractRobotHardware brick, double _mainLoopCycleMs, string pixyComPort, ISpeaker _speaker)
{
hardwareBrick = brick;
mainLoopCycleMs = _mainLoopCycleMs;
speaker = _speaker;
if (!string.IsNullOrWhiteSpace(pixyComPort))
{
// See C:\Projects\Arduino\Sketchbook\PixyToSerial\PixyToSerial.ino
PixyCameraSensor = new PixyCamera("PixyCamera", pixyComPort, 115200);
}
}
/*
* // Set these properties based on your robot drivetrain/encoder config:
* encoder.Resolution = 44; // 44 ticks per revolution
* encoder.WheelDiameter = 2.0; // 2 inch wheel diameter
* encoder.WheelEncoderId = WheelEncoderId.Encoder1;
*
* // Clear encoder value:
* encoder.Clear();
*
* // If you're interested in absolute distance, then use this:
* encoder.DistanceChangedThreshold = 0.25; // 0.25 inches
* encoder.DistanceChanged += new
* HardwareComponentEventHandler(encoder_DistanceChanged);
*
* // If you're interested in ticks, then use this:
* encoder.CountChangedThreshold = 10; // 10 ticks;
* encoder.CountChanged += new
* HardwareComponentEventHandler(encoder_CountChanged);
*/
private IWheelEncoder CreateWheelEncoder(IAbstractRobotHardware brick, WheelEncoderId id, int frequency, int threshold)
{
IWheelEncoder encoder = brick.produceWheelEncoder(id, frequency, 1, threshold);
// Frequency milliseconds
// Resolution must be set to avoid divide by zero in WheelEncoder.cs
// CountChangedThreshold ticks
encoder.CountChanged += new HardwareComponentEventHandler(encoder_CountChanged);
return(encoder);
}
public RangerSensorSonar(string name, SensorPose pose, IAbstractRobotHardware brick, GpioPinId triggerPin, GpioPinId outputPin, int frequency, double threshold)
{
this.Name = name;
this.Pose = pose;
// reliably measured range:
this.MinDistanceMeters = 0.04d; // shows 3cm all right
this.MaxDistanceMeters = 2.5d; // shows 2.55m at infinity
this.srf04 = brick.produceSonarSRF04(triggerPin, outputPin, frequency, threshold);
srf04.DistanceChanged += new HardwareComponentEventHandler(ir_DistanceChanged);
}
public RangerSensorParkingSonar(string name, SensorPose pose, IAbstractRobotHardware brick, int frequency)
{
this.Name = name;
this.Pose = pose;
// reliably measured range:
this.MinDistanceMeters = 0.0d; // shows 0cm all right
this.MaxDistanceMeters = 2.5d; // shows 2.55m at infinity
this.parkingSonar = brick.produceParkingSonar(frequency);
parkingSonar.DistanceChanged += new HardwareComponentEventHandler(psonar_DistanceChanged);
}
public RangerSensorParkingSonar(string name, SensorPose pose, IAbstractRobotHardware brick, int frequency)
{
this.Name = name;
this.Pose = pose;
// reliably measured range:
this.MinDistanceMeters = 0.0d; // shows 0cm all right
this.MaxDistanceMeters = 2.5d; // shows 2.55m at infinity
this.parkingSonar = brick.produceParkingSonar(frequency);
parkingSonar.DistanceChanged += new HardwareComponentEventHandler(psonar_DistanceChanged);
}
public RangerSensorIR20_150(string name, SensorPose pose, IAbstractRobotHardware brick, AnalogPinId pinId, int frequency, double threshold)
{
this.Name = name;
this.Pose = pose;
// reliably measured range:
this.MinDistanceMeters = 0.26d; // shows 0.22 when too close
this.MaxDistanceMeters = 1.52d; // shows 1.60 at infinity
this.gp2d12 = brick.produceSharpGP2D12(pinId, frequency, threshold);
gp2d12.DistanceChanged += new HardwareComponentEventHandler(ir_DistanceChanged);
}
public RangerSensorIR10_80(string name, SensorPose pose, IAbstractRobotHardware brick, AnalogPinId pinId, int frequency, double threshold)
{
this.Name = name;
this.Pose = pose;
// reliably measured range:
this.MinDistanceMeters = 0.11d; // shows 10cm when 10 cm or closer
this.MaxDistanceMeters = 0.62d; // shows 0.64 at infinity
this.gp2d12 = brick.produceSharpGP2D12(pinId, frequency, threshold);
gp2d12.DistanceChanged += new HardwareComponentEventHandler(ir_DistanceChanged);
}
public RangerSensorSonar(string name, SensorPose pose, IAbstractRobotHardware brick, GpioPinId triggerPin, GpioPinId outputPin, int frequency, double threshold)
{
this.Name = name;
this.Pose = pose;
// reliably measured range:
this.MinDistanceMeters = 0.04d; // shows 3cm all right
this.MaxDistanceMeters = 2.5d; // shows 2.55m at infinity
this.srf04 = brick.produceSonarSRF04(triggerPin, outputPin, frequency, threshold);
srf04.DistanceChanged += new HardwareComponentEventHandler(ir_DistanceChanged);
}
private IAnalogSensor CreateBatteryVoltageMeter(IAbstractRobotHardware brick, int frequency, double thresholdVolts)
{
// analog pin 5 in Element board is internally tied to 1/3 of the supply voltage level. The 5.0d is 5V, microcontroller's ADC reference and 1024 is range.
int threshold = (int)Math.Round((thresholdVolts * 1024.0d) / (3.0d * 5.0d));
Debug.WriteLine("CreateBatteryVoltageMeter() threshold=" + threshold);
// analog pin 5 is internally tied to 1/3 of the supply voltage level
IAnalogSensor bv = brick.produceAnalogSensor(AnalogPinId.A5, frequency, threshold);
bv.AnalogValueChanged += new HardwareComponentEventHandler(batteryVoltage_ValueChanged);
return(bv);
}
private IAnalogSensor CreateBatteryVoltageMeter(IAbstractRobotHardware brick, int frequency, double thresholdVolts)
{
// analog pin 5 in Element board is internally tied to 1/3 of the supply voltage level.
// The 5.0d is 5V, microcontroller's ADC reference and 1024 is range.
// on Plucky the battery voltage goes through 1/3 divider and comes to Arduino Pin 3, which is reported as Pin 5 to here.
// see PluckyWheels.ino sketch
int threshold = (int)Math.Round((thresholdVolts * 1024.0d) / (3.0d * 5.0d));
Debug.WriteLine("CreateBatteryVoltageMeter() threshold=" + threshold);
// analog pin 5 is internally tied to 1/3 of the supply voltage level
IAnalogSensor bv = brick.produceAnalogSensor(AnalogPinId.A5, frequency, threshold);
bv.AnalogValueChanged += new HardwareComponentEventHandler(batteryVoltage_ValueChanged);
return(bv);
}
/// <summary>
/// produces hardwareBrick and sets it for communication
/// </summary>
/// <param name="args"></param>
public override async Task Init(CancellationTokenSource cts, string[] args)
{
cancellationTokenSource = cts;
string port = args[0]; // for Element board based robot we must pass serial port name here
// create an instance of ConcreteRobotHardware:
hardwareBrick = new ArduinoBrick(cts)
{
PortType = CommunicationPortType.Serial,
PortName = port,
BaudRate = 115200 // 19200
};
Debug.WriteLine("OK: RobotPluckyHardwareBridge: created Arduino hardware brick on port " + port);
hardwareBrick.CommunicationsStarting += new CommunicationChannelEventHandler(bridge_CommunicationsStarting);
hardwareBrick.CommunicationsStopping += new CommunicationChannelEventHandler(bridge_CommunicationsStopping);
hardwareBrick.CommunicationStarted += new HardwareComponentEventHandler(bridge_CommunicationStarted);
}
public static IRangerSensor produceRangerSensor(RangerSensorFactoryProducts productType, string name, SensorPose pose, IAbstractRobotHardware brick, params Object[] args)
{
switch (productType)
{
case RangerSensorFactoryProducts.RangerSensorIR10_80:
return new RangerSensorIR10_80(name, pose, brick, (AnalogPinId)args[0], (int)args[1], (double)args[2]);
case RangerSensorFactoryProducts.RangerSensorIR20_150:
return new RangerSensorIR20_150(name, pose, brick, (AnalogPinId)args[0], (int)args[1], (double)args[2]);
case RangerSensorFactoryProducts.RangerSensorSonar:
return new RangerSensorSonar(name, pose, brick, (GpioPinId)args[0], (GpioPinId)args[1], (int)args[2], (double)args[3]);
case RangerSensorFactoryProducts.RangerSensorParkingSonar:
return new RangerSensorParkingSonar(name, pose, brick, (int)args[0]);
default:
throw new NotImplementedException("Error: RangerSensorFactory cannot produce ranger type " + productType);
}
}
/// <summary>
/// produces hardwareBrick and sets it for communication
/// </summary>
/// <param name="args"></param>
public override async Task Init(CancellationTokenSource cts, string[] args)
{
cancellationTokenSource = cts;
string port = args[0]; // for Element board based robot we must pass serial port name here
// create an instance of ConcreteRobotHardware:
hardwareBrick = new ArduinoBrick(cts)
{
PortType = CommunicationPortType.Serial,
PortName = port,
BaudRate = 115200 // 19200
};
Debug.WriteLine("OK: RobotPluckyHardwareBridge: created Arduino hardware brick on port " + port);
hardwareBrick.CommunicationsStarting += new CommunicationChannelEventHandler(bridge_CommunicationsStarting);
hardwareBrick.CommunicationsStopping += new CommunicationChannelEventHandler(bridge_CommunicationsStopping);
hardwareBrick.CommunicationStarted += new HardwareComponentEventHandler(bridge_CommunicationStarted);
}
/// <summary>
/// produces hardwareBrick and sets it for communication
/// </summary>
/// <param name="args"></param>
public override async Task Init(CancellationTokenSource cts, string[] args)
{
cancellationTokenSource = cts;
string port = args[0]; // for Element board based robot we must pass serial port name here
// create an instance of ConcreteRobotHardware:
hardwareBrick = new Element()
{
PortType = CommunicationPortType.Serial,
PortName = port,
BaudRate = 19200,
AsyncCallbacksEnabled = false // false requires explicit call to PumpEvents from the run loop
};
Debug.WriteLine("OK: RobotShortyHardwareBridge: created Element hardware brick on port " + port);
hardwareBrick.CommunicationsStarting += new CommunicationChannelEventHandler(bridge_CommunicationsStarting);
hardwareBrick.CommunicationsStopping += new CommunicationChannelEventHandler(bridge_CommunicationsStopping);
hardwareBrick.CommunicationStarted += new HardwareComponentEventHandler(bridge_CommunicationStarted);
}
/// <summary>
/// produces hardwareBrick and sets it for communication
/// </summary>
/// <param name="args"></param>
public override async Task Init(CancellationTokenSource cts, string[] args)
{
cancellationTokenSource = cts;
string port = args[0]; // for Element board based robot we must pass serial port name here
// create an instance of ConcreteRobotHardware:
hardwareBrick = new Element()
{
PortType = CommunicationPortType.Serial,
PortName = port,
BaudRate = 19200,
AsyncCallbacksEnabled = false // false requires explicit call to PumpEvents from the run loop
};
Debug.WriteLine("OK: RobotShortyHardwareBridge: created Element hardware brick on port " + port);
hardwareBrick.CommunicationsStarting += new CommunicationChannelEventHandler(bridge_CommunicationsStarting);
hardwareBrick.CommunicationsStopping += new CommunicationChannelEventHandler(bridge_CommunicationsStopping);
hardwareBrick.CommunicationStarted += new HardwareComponentEventHandler(bridge_CommunicationStarted);
}
public SensorsControllerShorty(IAbstractRobotHardware brick, double _mainLoopCycleMs)
{
hardwareBrick = brick;
mainLoopCycleMs = _mainLoopCycleMs;
//PixyCameraSensor = new PixyCamera("PixyCamera", "COM8", 115200);
}
/*
// Set these properties based on your robot drivetrain/encoder config:
encoder.Resolution = 44; // 44 ticks per revolution
encoder.WheelDiameter = 2.0; // 2 inch wheel diameter
encoder.WheelEncoderId = WheelEncoderId.Encoder1;
// Clear encoder value:
encoder.Clear();
// If you're interested in absolute distance, then use this:
encoder.DistanceChangedThreshold = 0.25; // 0.25 inches
encoder.DistanceChanged += new
HardwareComponentEventHandler(encoder_DistanceChanged);
// If you're interested in ticks, then use this:
encoder.CountChangedThreshold = 10; // 10 ticks;
encoder.CountChanged += new
HardwareComponentEventHandler(encoder_CountChanged);
*/
private IWheelEncoder CreateWheelEncoder(IAbstractRobotHardware brick, WheelEncoderId id, int frequency, int threshold)
{
IWheelEncoder encoder = brick.produceWheelEncoder(id, frequency, 1, threshold);
// Frequency milliseconds
// Resolution must be set to avoid divide by zero in WheelEncoder.cs
// CountChangedThreshold ticks
encoder.CountChanged += new HardwareComponentEventHandler(encoder_CountChanged);
return encoder;
}
private IAnalogSensor CreateBatteryVoltageMeter(IAbstractRobotHardware brick, int frequency, double thresholdVolts)
{
// analog pin 5 in Element board is internally tied to 1/3 of the supply voltage level. The 5.0d is 5V, microcontroller's ADC reference and 1024 is range.
int threshold = (int)Math.Round((thresholdVolts * 1024.0d) / (3.0d * 5.0d));
Debug.WriteLine("CreateBatteryVoltageMeter() threshold=" + threshold);
// analog pin 5 is internally tied to 1/3 of the supply voltage level
IAnalogSensor bv = brick.produceAnalogSensor(AnalogPinId.A5, frequency, threshold);
bv.AnalogValueChanged += new HardwareComponentEventHandler(batteryVoltage_ValueChanged);
return bv;
}
public DifferentialDrive(IAbstractRobotHardware brick)
{
this.hardwareBrick = brick;
}
public static IRangerSensor produceRangerSensor(RangerSensorFactoryProducts productType, string name, SensorPose pose, IAbstractRobotHardware brick, params Object[] args)
{
switch (productType)
{
case RangerSensorFactoryProducts.RangerSensorIR10_80:
return(new RangerSensorIR10_80(name, pose, brick, (AnalogPinId)args[0], (int)args[1], (double)args[2]));
case RangerSensorFactoryProducts.RangerSensorIR20_150:
return(new RangerSensorIR20_150(name, pose, brick, (AnalogPinId)args[0], (int)args[1], (double)args[2]));
case RangerSensorFactoryProducts.RangerSensorSonar:
return(new RangerSensorSonar(name, pose, brick, (GpioPinId)args[0], (GpioPinId)args[1], (int)args[2], (double)args[3]));
case RangerSensorFactoryProducts.RangerSensorParkingSonar:
return(new RangerSensorParkingSonar(name, pose, brick, (int)args[0]));
default:
throw new NotImplementedException("Error: RangerSensorFactory cannot produce ranger type " + productType);
}
}
public DifferentialDrive(IAbstractRobotHardware brick)
{
this.hardwareBrick = brick;
}
private IAnalogSensor CreateBatteryVoltageMeter(IAbstractRobotHardware brick, int frequency, double thresholdVolts)
{
// analog pin 5 in Element board is internally tied to 1/3 of the supply voltage level.
// The 5.0d is 5V, microcontroller's ADC reference and 1024 is range.
// on Plucky the battery voltage goes through 1/3 divider and comes to Arduino Pin 3, which is reported as Pin 5 to here.
// see PluckyWheels.ino sketch
int threshold = (int)Math.Round((thresholdVolts * 1024.0d) / (3.0d * 5.0d));
Debug.WriteLine("CreateBatteryVoltageMeter() threshold=" + threshold);
// analog pin 5 is internally tied to 1/3 of the supply voltage level
IAnalogSensor bv = brick.produceAnalogSensor(AnalogPinId.A5, frequency, threshold);
bv.AnalogValueChanged += new HardwareComponentEventHandler(batteryVoltage_ValueChanged);
return bv;
}
