public string ReadSD(ISDCard sdCard)
{
if (sdCard == null)
{
throw new NotImplementedException("sd card null");
}
return(sdCard.ReadSD());
}
public TelemetryPresenter(ISDCard sdCard, Cpu.Pin pin)
{
_led = new OutputPort(pin, false);
var reader = new PersistanceReader(new TelemetryFormatter());
sdCard.MountFileSystem();
var files = Directory.GetFiles("\\SD");
foreach (var file in files)
{
ParseToCsv(file,reader);
//File.Delete(file);
}
sdCard.MountMassStorage();
while(true)
{
_led.Write(true);
Thread.Sleep(1000);
_led.Write(false);
Thread.Sleep(1000);
}
}
public TelemetryPresenter(ISDCard sdCard, Cpu.Pin pin)
{
_led = new OutputPort(pin, false);
var reader = new PersistanceReader(new TelemetryFormatter());
sdCard.MountFileSystem();
var files = Directory.GetFiles("\\SD");
foreach (var file in files)
{
ParseToCsv(file, reader);
//File.Delete(file);
}
sdCard.MountMassStorage();
while (true)
{
_led.Write(true);
Thread.Sleep(1000);
_led.Write(false);
Thread.Sleep(1000);
}
}
public static void Main()
{
//Initialize motors first
MotorSettings motorSettings = GetMotorSettings();
Motor frontMotor = new PWMMotor(new PWM((Cpu.Pin)FezPin.PWM.Di8, 4000000), motorSettings);
Motor rearMotor = new PWMMotor(new PWM((Cpu.Pin)FezPin.PWM.Di10, 4000000), motorSettings);
Motor leftMotor = new PWMMotor(new PWM((Cpu.Pin)FezPin.PWM.Di9, 4000000), motorSettings);
Motor rightMotor = new PWMMotor(new PWM((Cpu.Pin)FezPin.PWM.Di6, 4000000), motorSettings);
MotorMixer mixer = new QuadMixer(frontMotor, rearMotor, leftMotor, rightMotor);
//Telemetry
ISDCard sdCard = (ISDCard) new SDCard();
if (Configuration.DebugInterface.GetCurrent() == Configuration.DebugInterface.Port.USB1)
{
sdCard.MountFileSystem();
}
else
{
new TelemetryPresenter(sdCard, (Cpu.Pin)FezPin.Digital.LED);
}
ILogger logger = new PersistenceWriter(new FileStream(@"\SD\telemetry.bin", FileMode.OpenOrCreate), new TelemetryFormatter());
//Sensors
I2CBus twiBus = new I2CBus();
Gyro gyro = new ITG3200(twiBus, GetGyroFactor());
Radio radio = new DefaultRadio(twiBus, GetRadioSettings());
//Control Algoriths
PIDSettings[] pidSettings = GetPIDSettings();
AxesController axesController = new AxesController(pidSettings[0], pidSettings[1], pidSettings[2], true);
ControllerLoopSettings loopSettings = GetLoopSettings();
Controller controller = new Controller(mixer, axesController, gyro, radio, loopSettings, GetMotorSettings(), logger);
//controller.Start();
}
