private async void LightSensor_ReadingChanged(IAnalogSensor sender, AnalogSensorReadingChangedEventArgs args)
{
// Invert
var reading = 1 - args.Reading.Ratio;
// Update UI
await Dispatcher.RunIdleAsync((s) =>
{
// Value
LightProgress.Value = reading;
// Color
if (reading < .25)
{
LightProgress.Foreground = new SolidColorBrush(Colors.Red);
}
else if (reading < .75 )
{
LightProgress.Foreground = new SolidColorBrush(Colors.Yellow);
}
else
{
LightProgress.Foreground = new SolidColorBrush(Colors.Green);
}
});
}
public IAnalogSensor viewIAnalogSensor()
{
global::System.IntPtr cPtr = yarpPINVOKE.PolyDriver_viewIAnalogSensor(swigCPtr);
IAnalogSensor ret = (cPtr == global::System.IntPtr.Zero) ? null : new IAnalogSensor(cPtr, false);
return(ret);
}
private async void LightSensor_ReadingChanged(IAnalogSensor sender, AnalogSensorReadingChangedEventArgs args)
{
// Invert
var reading = 1 - args.Reading.Ratio;
// Update UI
await Dispatcher.RunIdleAsync((s) =>
{
// Value
LightProgress.Value = reading;
// Color
if (reading < .25)
{
LightProgress.Foreground = new SolidColorBrush(Colors.Red);
}
else if (reading < .75)
{
LightProgress.Foreground = new SolidColorBrush(Colors.Yellow);
}
else
{
LightProgress.Foreground = new SolidColorBrush(Colors.Green);
}
});
}
void Ahrs_ValueChanged(IHardwareComponent sender)
{
IAnalogSensor a = (IAnalogSensor)sender;
int val = a.AnalogValue; // 0v = 0, 5V = 470 approx
/*
* Yaw PWM val
* --------------------
*
*/
double heading;
if (val > 507)
{
heading = GeneralMath.map(val, 508, 1024, 0, 180);
}
else
{
heading = GeneralMath.map(val, 0, 507, 180, 360);
}
//Debug.WriteLine("Ahrs: Value=" + val + " heading: " + heading);
lock (currentSensorsDataLock)
{
ISensorsData sensorsData = new SensorsDataShorty(this.currentSensorsData);
sensorsData.CompassHeadingDegrees = heading;
//Debug.WriteLine(sensorsData.ToString());
this.currentSensorsData = sensorsData;
}
}
private void AnalogSensor_ReadingChanged(IAnalogSensor sender, AnalogSensorReadingChangedEventArgs args)
{
// Get reading
var r = args.Reading;
currentReading = args.Reading.Ratio - ambientThreshold;
maxReading = Math.Max(maxReading, currentReading);
var t = Dispatcher.RunAsync(CoreDispatcherPriority.Normal, async() =>
{
if (currentState == States.Cooldown)
{
CurrentValueProg.Value = currentReading;
}
else
{
CurrentValueProg.Value = maxReading;
}
PercentBlock.Text = string.Format("{0:N0}%", maxReading * 100);
await TestAndUpdateStateAsync();
});
// Print
Debug.WriteLine(string.Format("Value: {0} Ratio: {1}", r.Value, r.Ratio));
}
private async void TempSensor_ReadingChanged(IAnalogSensor sender, AnalogSensorReadingChangedEventArgs args)
{
var reading = args.Reading.Value;
tempVals.Add(((9 / 5) * (reading / 10)) + 32);
tempVals.RemoveAt(0);
double temp = tempVals.Average();
#region comment this out if running headless.
await Dispatcher.RunIdleAsync((s) =>
{
// Value
TemperatureProgress.Text = "Temperature: " + temp.ToString() + "deg F";
// Color
if (temp < 40)
{
TemperatureProgress.Foreground = new SolidColorBrush(Colors.LightBlue);
}
else if (temp < 80)
{
TemperatureProgress.Foreground = new SolidColorBrush(Colors.Yellow);
}
else
{
TemperatureProgress.Foreground = new SolidColorBrush(Colors.Red);
}
});
#endregion comment this out if running headless.
}
private void AnalogSensor_ReadingChanged(IAnalogSensor sender, AnalogSensorReadingChangedEventArgs args)
{
// Get reading
var r = args.Reading;
// Store for reporting
lastAnalog = r.Ratio;
// Print
Debug.WriteLine(string.Format("Value: {0} Ratio: {1}", r.Value, r.Ratio));
}
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);
}
void batteryVoltage_ValueChanged(IHardwareComponent sender)
{
lock (currentSensorsDataLock)
{
SensorsDataShorty sensorsData = new SensorsDataShorty(this.currentSensorsData);
IAnalogSensor bv = sender as IAnalogSensor;
Debug.Assert(bv != null, "SensorsControllerElement: batteryVoltage_ValueChanged(): AnalogSensor must be non-null");
// 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.
double voltage = 3.0d * (bv.AnalogValue * 5.0d) / 1024.0d;
sensorsData.BatteryVoltage = voltage; // also sets sensorsData.BatteryVoltageTimestamp
this.currentSensorsData = sensorsData;
}
Debug.WriteLine(this.currentSensorsData.ToString());
}
/// <summary>
/// Event Handler for Light Sensor Reading Changed.
/// </summary>
/// <param name="sender"></param>
/// <param name="args"></param>
private async void LightSensor_ReadingChanged(IAnalogSensor sender, AnalogSensorReadingChangedEventArgs args)
{
//Read the ratio, which is readvalue/maxvalue
var reading = args.Reading.Ratio;
//Add reading to end of list
lightVals.Add(reading * 100);
//remove first reading. Constant size of list is 10.
lightVals.RemoveAt(0);
//Smooth the reading out by averaging all 10
//this is average light value across 5 seconds
//Note: You occasionally get bad values, hence the smoothing.
var avg = lightVals.Average();
// Update UI
#region comment this out if running headless.
await Dispatcher.RunIdleAsync((s) =>
{
// Value
LightProgress.Text = "Light: " + avg.ToString() + "%";
// Color
if (avg < 25)
{
LightProgress.Foreground = new SolidColorBrush(Colors.OrangeRed);
}
else if (avg < 75)
{
LightProgress.Foreground = new SolidColorBrush(Colors.Yellow);
}
else
{
LightProgress.Foreground = new SolidColorBrush(Colors.Green);
}
});
#endregion comment this out if running headless.
}
private void batteryVoltage_ValueChanged(IHardwareComponent sender)
{
lock (currentSensorsDataLock)
{
SensorsDataPlucky sensorsData = new SensorsDataPlucky(this.currentSensorsData);
IAnalogSensor bv = sender as IAnalogSensor;
Debug.Assert(bv != null, "SensorsControllerPlucky: batteryVoltage_ValueChanged(): AnalogSensor must be non-null");
// 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
double voltage = 3.0d * (bv.AnalogValue * 5.0d) / 1024.0d;
sensorsData.BatteryVoltage = voltage; // also sets sensorsData.BatteryVoltageTimestamp
this.currentSensorsData = sensorsData;
}
Debug.WriteLine(this.currentSensorsData.ToString());
}
/// <summary>
/// we can create sensors here, but cannot send commands before bridge_CommunicationStarted is called in PluckyTheRobot
/// for example, encoder.Clear() will hang.
/// </summary>
public async Task InitSensors(CancellationTokenSource cts)
{
// see C:\Projects\Serializer_3_0\ExampleApps\AnalogSensorExample\AnalogSensorExample\Form1.cs
// Note: the Element board communicates at 19200 Baud, which is roughly 1.5 kbytes/sec
// Comm link is busy with motor commands and has to be responsive to encoders, for odometry to work.
// Sensors must carefully adjust their demands by setting UpdateFrequency and Enabled properties.
// *********************** infrared rangers:
SensorPose spIrLeft = new SensorPose() { XMeters = 0.0d, YMeters = 0.1d, ThetaRadians = Math.PI / 2.0d };
RangerIrLeft = RangerSensorFactory.produceRangerSensor(RangerSensorFactoryProducts.RangerSensorIR10_80, "IrLeft", spIrLeft,
hardwareBrick, AnalogPinId.A1, rangersSamplingIntervalMs, rangersSensitivityThresholdCm);
RangerIrLeft.distanceChangedEvent += new EventHandler<RangerSensorEventArgs>(RangerDistanceChangedEvent);
RangerSensors.Add(RangerIrLeft.Name, RangerIrLeft);
SensorPose spIrRight = new SensorPose() { XMeters = 0.0d, YMeters = -0.1d, ThetaRadians = -Math.PI / 2.0d };
RangerIrRight = RangerSensorFactory.produceRangerSensor(RangerSensorFactoryProducts.RangerSensorIR10_80, "IrRight", spIrRight,
hardwareBrick, AnalogPinId.A0, rangersSamplingIntervalMs, rangersSensitivityThresholdCm);
RangerIrRight.distanceChangedEvent += new EventHandler<RangerSensorEventArgs>(RangerDistanceChangedEvent);
RangerSensors.Add(RangerIrRight.Name, RangerIrRight);
SensorPose spIrFront = new SensorPose() { XMeters = 0.1d, YMeters = 0.0d, ThetaRadians = 0.0d };
RangerIrFront = RangerSensorFactory.produceRangerSensor(RangerSensorFactoryProducts.RangerSensorIR10_80, "IrFront", spIrFront,
hardwareBrick, AnalogPinId.A3, rangersSamplingIntervalMs, rangersSensitivityThresholdCm);
RangerIrFront.distanceChangedEvent += new EventHandler<RangerSensorEventArgs>(RangerDistanceChangedEvent);
RangerSensors.Add(RangerIrFront.Name, RangerIrFront);
SensorPose spIrRear = new SensorPose() { XMeters = -0.1d, YMeters = 0.0d, ThetaRadians = Math.PI };
RangerIrRear = RangerSensorFactory.produceRangerSensor(RangerSensorFactoryProducts.RangerSensorIR10_80, "IrRear", spIrRear,
hardwareBrick, AnalogPinId.A2, rangersSamplingIntervalMs, rangersSensitivityThresholdCm);
RangerIrRear.distanceChangedEvent += new EventHandler<RangerSensorEventArgs>(RangerDistanceChangedEvent);
RangerSensors.Add(RangerIrRear.Name, RangerIrRear);
// *********************** ultrasonic rangers:
SensorPose spSonarLeft = new SensorPose() { XMeters = 0.1d, YMeters = 0.05d, ThetaRadians = Math.PI / 6.0d };
RangerSonarLeft = RangerSensorFactory.produceRangerSensor(RangerSensorFactoryProducts.RangerSensorSonar, "SonarLeft", spSonarLeft,
hardwareBrick, GpioPinId.Pin4, GpioPinId.Pin5, rangersSamplingIntervalMs, rangersSensitivityThresholdCm);
RangerSonarLeft.distanceChangedEvent += new EventHandler<RangerSensorEventArgs>(RangerDistanceChangedEvent);
RangerSensors.Add(RangerSonarLeft.Name, RangerSonarLeft);
SensorPose spSonarRight = new SensorPose() { XMeters = 0.1d, YMeters = -0.05d, ThetaRadians = -Math.PI / 6.0d };
RangerSonarRight = RangerSensorFactory.produceRangerSensor(RangerSensorFactoryProducts.RangerSensorSonar, "SonarRight", spSonarRight,
hardwareBrick, GpioPinId.Pin2, GpioPinId.Pin3, rangersSamplingIntervalMs, rangersSensitivityThresholdCm);
RangerSonarRight.distanceChangedEvent += new EventHandler<RangerSensorEventArgs>(RangerDistanceChangedEvent);
RangerSensors.Add(RangerSonarRight.Name, RangerSonarRight);
// *********************** wheel encoders - roughly 500 ticks per wheel revolution, 1200 ticks per meter.
encoderLeft = CreateWheelEncoder(hardwareBrick, WheelEncoderId.Encoder2, (int)mainLoopCycleMs, encodersSensitivityThresholdTicks);
encoderRight = CreateWheelEncoder(hardwareBrick, WheelEncoderId.Encoder1, (int)mainLoopCycleMs, encodersSensitivityThresholdTicks);
Compass = hardwareBrick.produceCompassCMPS03(0x60, CompassSamplingIntervalMs, CompassSensitivityThreshold);
Compass.HeadingChanged += new HardwareComponentEventHandler(Compass_HeadingChanged);
// arduino based AHRS - PWM DAC to pin 4:
Ahrs = hardwareBrick.produceAnalogSensor(AnalogPinId.A4, CompassSamplingIntervalMs, CompassSensitivityThreshold);
Ahrs.AnalogValueChanged += new HardwareComponentEventHandler(Ahrs_ValueChanged);
// arduino based AHRS - I2C does not connect:
//Ahrs = new I2CDevice(hardwareBrick);
//Ahrs.I2CAddress = 173; // The Wire library uses 7 bit addresses throughout.
// // If you have a datasheet or sample code that uses 8 bit address, you'll want to drop the low bit (i.e. shift the value one bit to the right),
// // yielding an address between 0 and 127. However the addresses from 0 to 7 are not used because are reserved so the first address that can be used is 8.
//Ahrs.WriteCommand = "234";
//Ahrs.ReadCommand = "6";
await PixyCameraSensor.Open(cts);
PixyCameraSensor.TargetingCameraTargetsChanged += PixyCameraSensor_PixyCameraBlocksChanged;
batteryVoltage = CreateBatteryVoltageMeter(hardwareBrick, batterySamplingIntervalMs, batterySensitivityThresholdVolts);
batteryVoltage.Enabled = true; // slow update rate, leave it turned on
IrRangersEnabled = true; // if false, do not sample or update
SonarsEnabled = false; // will enable sonars with an interval 50ms to avoid interference
EncodersEnabled = true;
//CompassEnabled = true; // compass no good inside concrete buildings, use gyro instead
CompassEnabled = false;
Ahrs.Enabled = true;
PixyCameraSensor.Enabled = true;
currentSensorsData = new SensorsData() { RangerSensors = this.RangerSensors };
}
private async void TempSensor_ReadingChanged(IAnalogSensor sender, AnalogSensorReadingChangedEventArgs args)
{
var reading = args.Reading.Value;
tempVals.Add(reading * 5000.0 / 1024.0 / 10.0);
tempVals.RemoveAt(0);
double temp = tempVals.Average();
#region comment this out if running headless.
await Dispatcher.RunIdleAsync((s) =>
{
// Value
TemperatureProgress.Text = "Temperature: " + temp.ToString() + "deg F";
// Color
if (temp < 40)
{
TemperatureProgress.Foreground = new SolidColorBrush(Colors.LightBlue);
}
else if (temp < 80)
{
TemperatureProgress.Foreground = new SolidColorBrush(Colors.Yellow);
}
else
{
TemperatureProgress.Foreground = new SolidColorBrush(Colors.Red);
}
});
#endregion comment this out if running headless.
}
internal static global::System.Runtime.InteropServices.HandleRef getCPtr(IAnalogSensor obj)
{
return((obj == null) ? new global::System.Runtime.InteropServices.HandleRef(null, global::System.IntPtr.Zero) : obj.swigCPtr);
}
private void AnalogSensor_ReadingChanged(IAnalogSensor sender, AnalogSensorReadingChangedEventArgs args)
{
// Get reading
var r = args.Reading;
// Store for reporting
lastAnalog = r.Ratio;
// Print
Debug.WriteLine(string.Format("Value: {0} Ratio: {1}", r.Value, r.Ratio));
}
/// <summary>
/// Event Handler for Light Sensor Reading Changed.
/// </summary>
/// <param name="sender"></param>
/// <param name="args"></param>
private async void LightSensor_ReadingChanged(IAnalogSensor sender, AnalogSensorReadingChangedEventArgs args)
{
//Read the ratio, which is readvalue/maxvalue
var reading = args.Reading.Ratio;
//Add reading to end of list
lightVals.Add(reading * 100);
//remove first reading. Constant size of list is 10.
lightVals.RemoveAt(0);
//Smooth the reading out by averaging all 10
//this is average light value across 5 seconds
//Note: You occasionally get bad values, hence the smoothing.
var avg = lightVals.Average();
// Update UI
#region comment this out if running headless.
await Dispatcher.RunIdleAsync((s) =>
{
// Value
LightProgress.Text = "Light: " + avg.ToString() + "%";
// Color
if (avg < 25)
{
LightProgress.Foreground = new SolidColorBrush(Colors.OrangeRed);
}
else if (avg < 75)
{
LightProgress.Foreground = new SolidColorBrush(Colors.Yellow);
}
else
{
LightProgress.Foreground = new SolidColorBrush(Colors.Green);
}
});
#endregion comment this out if running headless.
}
private void Sensor_ReadingChanged(IAnalogSensor sender, AnalogSensorReadingChangedEventArgs args)
{
// Perform update, existing reading
Update(args.Reading);
}
private void AnalogSensor_ReadingChanged(IAnalogSensor sender, AnalogSensorReadingChangedEventArgs args)
{
// Get reading
var r = args.Reading;
currentReading = args.Reading.Ratio - ambientThreshold;
maxReading = Math.Max(maxReading, currentReading);
var t = Dispatcher.RunAsync(CoreDispatcherPriority.Normal, async () =>
{
if (currentState == States.Cooldown)
{
CurrentValueProg.Value = currentReading;
}
else
{
CurrentValueProg.Value = maxReading;
}
PercentBlock.Text = string.Format("{0:N0}%", maxReading * 100);
await TestAndUpdateStateAsync();
});
// Print
Debug.WriteLine(string.Format("Value: {0} Ratio: {1}", r.Value, r.Ratio));
}
/// <summary>
/// we can create sensors here, but cannot send commands before bridge_CommunicationStarted is called in PluckyTheRobot
/// for example, encoder.Clear() will hang.
/// </summary>
public async Task InitSensors(CancellationTokenSource cts)
{
// see C:\Projects\Serializer_3_0\ExampleApps\AnalogSensorExample\AnalogSensorExample\Form1.cs
// Note: the Element board communicates at 19200 Baud, which is roughly 1.5 kbytes/sec
// Comm link is busy with motor commands and has to be responsive to encoders, for odometry to work.
// Sensors must carefully adjust their demands by setting UpdateFrequency and Enabled properties.
// *********************** infrared rangers:
SensorPose spIrLeft = new SensorPose()
{
XMeters = 0.0d, YMeters = 0.1d, ThetaRadians = Math.PI / 2.0d
};
RangerIrLeft = RangerSensorFactory.produceRangerSensor(RangerSensorFactoryProducts.RangerSensorIR10_80, "IrLeft", spIrLeft,
hardwareBrick, AnalogPinId.A1, rangersSamplingIntervalMs, rangersSensitivityThresholdCm);
RangerIrLeft.distanceChangedEvent += new EventHandler <RangerSensorEventArgs>(RangerDistanceChangedEvent);
RangerSensors.Add(RangerIrLeft.Name, RangerIrLeft);
SensorPose spIrRight = new SensorPose()
{
XMeters = 0.0d, YMeters = -0.1d, ThetaRadians = -Math.PI / 2.0d
};
RangerIrRight = RangerSensorFactory.produceRangerSensor(RangerSensorFactoryProducts.RangerSensorIR10_80, "IrRight", spIrRight,
hardwareBrick, AnalogPinId.A0, rangersSamplingIntervalMs, rangersSensitivityThresholdCm);
RangerIrRight.distanceChangedEvent += new EventHandler <RangerSensorEventArgs>(RangerDistanceChangedEvent);
RangerSensors.Add(RangerIrRight.Name, RangerIrRight);
SensorPose spIrFront = new SensorPose()
{
XMeters = 0.1d, YMeters = 0.0d, ThetaRadians = 0.0d
};
RangerIrFront = RangerSensorFactory.produceRangerSensor(RangerSensorFactoryProducts.RangerSensorIR10_80, "IrFront", spIrFront,
hardwareBrick, AnalogPinId.A3, rangersSamplingIntervalMs, rangersSensitivityThresholdCm);
RangerIrFront.distanceChangedEvent += new EventHandler <RangerSensorEventArgs>(RangerDistanceChangedEvent);
RangerSensors.Add(RangerIrFront.Name, RangerIrFront);
SensorPose spIrRear = new SensorPose()
{
XMeters = -0.1d, YMeters = 0.0d, ThetaRadians = Math.PI
};
RangerIrRear = RangerSensorFactory.produceRangerSensor(RangerSensorFactoryProducts.RangerSensorIR10_80, "IrRear", spIrRear,
hardwareBrick, AnalogPinId.A2, rangersSamplingIntervalMs, rangersSensitivityThresholdCm);
RangerIrRear.distanceChangedEvent += new EventHandler <RangerSensorEventArgs>(RangerDistanceChangedEvent);
RangerSensors.Add(RangerIrRear.Name, RangerIrRear);
// *********************** ultrasonic rangers:
SensorPose spSonarLeft = new SensorPose()
{
XMeters = 0.1d, YMeters = 0.05d, ThetaRadians = Math.PI / 6.0d
};
RangerSonarLeft = RangerSensorFactory.produceRangerSensor(RangerSensorFactoryProducts.RangerSensorSonar, "SonarLeft", spSonarLeft,
hardwareBrick, GpioPinId.Pin4, GpioPinId.Pin5, rangersSamplingIntervalMs, rangersSensitivityThresholdCm);
RangerSonarLeft.distanceChangedEvent += new EventHandler <RangerSensorEventArgs>(RangerDistanceChangedEvent);
RangerSensors.Add(RangerSonarLeft.Name, RangerSonarLeft);
SensorPose spSonarRight = new SensorPose()
{
XMeters = 0.1d, YMeters = -0.05d, ThetaRadians = -Math.PI / 6.0d
};
RangerSonarRight = RangerSensorFactory.produceRangerSensor(RangerSensorFactoryProducts.RangerSensorSonar, "SonarRight", spSonarRight,
hardwareBrick, GpioPinId.Pin2, GpioPinId.Pin3, rangersSamplingIntervalMs, rangersSensitivityThresholdCm);
RangerSonarRight.distanceChangedEvent += new EventHandler <RangerSensorEventArgs>(RangerDistanceChangedEvent);
RangerSensors.Add(RangerSonarRight.Name, RangerSonarRight);
// *********************** wheel encoders - roughly 500 ticks per wheel revolution, 1200 ticks per meter.
encoderLeft = CreateWheelEncoder(hardwareBrick, WheelEncoderId.Encoder2, (int)mainLoopCycleMs, encodersSensitivityThresholdTicks);
encoderRight = CreateWheelEncoder(hardwareBrick, WheelEncoderId.Encoder1, (int)mainLoopCycleMs, encodersSensitivityThresholdTicks);
Compass = hardwareBrick.produceCompassCMPS03(0x60, CompassSamplingIntervalMs, CompassSensitivityThreshold);
Compass.HeadingChanged += new HardwareComponentEventHandler(Compass_HeadingChanged);
// arduino based AHRS - PWM DAC to pin 4:
Ahrs = hardwareBrick.produceAnalogSensor(AnalogPinId.A4, CompassSamplingIntervalMs, CompassSensitivityThreshold);
Ahrs.AnalogValueChanged += new HardwareComponentEventHandler(Ahrs_ValueChanged);
// arduino based AHRS - I2C does not connect:
//Ahrs = new I2CDevice(hardwareBrick);
//Ahrs.I2CAddress = 173; // The Wire library uses 7 bit addresses throughout.
// // If you have a datasheet or sample code that uses 8 bit address, you'll want to drop the low bit (i.e. shift the value one bit to the right),
// // yielding an address between 0 and 127. However the addresses from 0 to 7 are not used because are reserved so the first address that can be used is 8.
//Ahrs.WriteCommand = "234";
//Ahrs.ReadCommand = "6";
if (PixyCameraSensor != null)
{
try
{
await PixyCameraSensor.Open(cts);
PixyCameraSensor.TargetingCameraTargetsChanged += PixyCameraSensor_PixyCameraBlocksChanged;
}
catch (Exception exc)
{
speaker.Speak("Could not open Pixy Camera at " + PixyCameraSensor.ComPortName);
PixyCameraSensor = null;
}
}
batteryVoltage = CreateBatteryVoltageMeter(hardwareBrick, batterySamplingIntervalMs, batterySensitivityThresholdVolts);
batteryVoltage.Enabled = true; // slow update rate, leave it turned on
IrRangersEnabled = true; // if false, do not sample or update
SonarsEnabled = false; // will enable sonars with an interval 50ms to avoid interference
EncodersEnabled = true;
//CompassEnabled = true; // compass no good inside concrete buildings, use gyro instead
CompassEnabled = false;
Ahrs.Enabled = true;
if (PixyCameraSensor != null)
{
PixyCameraSensor.Enabled = true;
}
currentSensorsData = new SensorsDataShorty()
{
RangerSensors = this.RangerSensors
};
}
