public async Task initialize()
{
var controller = await GpioController.GetDefaultAsync();
if (controller == null)
{
// Rogin?
return;
}
frontFilter = OnlineFilter.CreateDenoise();
backFilter = OnlineFilter.CreateDenoise();
rightFilter = OnlineFilter.CreateDenoise();
leftFilter = OnlineFilter.CreateDenoise();
triggerFrontPin = controller.OpenPin(kTriggerFront);
triggerBackPin = controller.OpenPin(kTriggerBack);
triggerLeftPin = controller.OpenPin(kTriggerLeft);
triggerRightPin = controller.OpenPin(kTriggerRight);
echoFrontPin = controller.OpenPin(kEchoFront);
echoBackPin = controller.OpenPin(kEchoBack);
echoLeftPin = controller.OpenPin(kEchoLeft);
echoRightPin = controller.OpenPin(kEchoRight);
triggerFrontPin.SetDriveMode(GpioPinDriveMode.Output);
triggerBackPin.SetDriveMode(GpioPinDriveMode.Output);
triggerLeftPin.SetDriveMode(GpioPinDriveMode.Output);
triggerRightPin.SetDriveMode(GpioPinDriveMode.Output);
echoFrontPin.SetDriveMode(GpioPinDriveMode.Input);
echoBackPin.SetDriveMode(GpioPinDriveMode.Input);
echoLeftPin.SetDriveMode(GpioPinDriveMode.Input);
echoRightPin.SetDriveMode(GpioPinDriveMode.Input);
long debounceTicks = Stopwatch.Frequency / (1000 * 1000 * 50);
echoFrontPin.DebounceTimeout = TimeSpan.FromTicks(debounceTicks);
echoBackPin.DebounceTimeout = TimeSpan.FromTicks(debounceTicks);
echoLeftPin.DebounceTimeout = TimeSpan.FromTicks(debounceTicks);
echoRightPin.DebounceTimeout = TimeSpan.FromTicks(debounceTicks);
echoFrontPin.ValueChanged += EchoFrontPin_ValueChanged;
echoBackPin.ValueChanged += EchoBackPin_ValueChanged;
echoLeftPin.ValueChanged += EchoLeftPin_ValueChanged;
echoRightPin.ValueChanged += EchoRightPin_ValueChanged;
// Every greater than 60 ms per datasheet due to echo.
// Round robin, so servicing each sonar every 120ms, but
// allowing for echo by servicing opposite sides.
timer.Interval = TimeSpan.FromMilliseconds(30);
timer.Tick += Timer_Tick;
timer.Start();
}
private void timer1_Tick(object sender, EventArgs e)
{
LineItem kurvaMagnitude = zedGraphControl1.GraphPane.CurveList[0] as LineItem;
IPointListEdit listMagnitude = kurvaMagnitude.Points as IPointListEdit;
dataMagnitude = new double[1000];
try
{
for (int i = 0; i < 1000; i++)
{
dataMagnitude[i] = double.Parse(uno.ReadLine(), CultureInfo.InvariantCulture.NumberFormat);
}
}
catch (Exception)
{
//uno.Close();
return;
}
OnlineFilter bandpass = OnlineFilter.CreateBandpass(MathNet.Filtering.ImpulseResponse.Finite, 1000, 20, 500);
OnlineFilter bandstop = OnlineFilter.CreateBandstop(MathNet.Filtering.ImpulseResponse.Finite, 1000, 48.5, 51.5);
OnlineFilter denoise = OnlineFilter.CreateDenoise();
dataFilter = new double[1000];
dataFilter = bandpass.ProcessSamples(dataMagnitude);
dataFilter = bandstop.ProcessSamples(dataFilter);
dataFilter = denoise.ProcessSamples(dataFilter);
var N = Enumerable.Range(1, dataMagnitude.Length).ToArray();
waktu = Array.ConvertAll <int, double>(N, Convert.ToDouble);
// double waktu = (Environment.TickCount - waktustart) / 1000.0;
listMagnitude.Clear();
for (int i = 0; i < 1000; i++)
{
listMagnitude.Add(waktu[i], dataFilter[i]);
}
label1.Text = Convert.ToString(dataFilter[500]);
//uno.Close();
zedGraphControl1.AxisChange();
zedGraphControl1.Refresh();
}
private void button2_Click(object sender, EventArgs e)
{
dataFilter = new double[dataMagnitude.Length];
OnlineFilter bandpass = OnlineFilter.CreateBandpass(ImpulseResponse.Finite, 1000, 20, 500);
OnlineFilter bandstop = OnlineFilter.CreateBandstop(MathNet.Filtering.ImpulseResponse.Finite, 1000, 49, 51);
OnlineFilter denoise = OnlineFilter.CreateDenoise();
dataFilter = bandpass.ProcessSamples(dataMagnitude);
dataFilter = bandstop.ProcessSamples(dataFilter);
dataFilter = denoise.ProcessSamples(dataFilter);
LineItem kurvaMagnitude = zedGraphControl1.GraphPane.CurveList[1] as LineItem;
IPointListEdit listFilter = kurvaMagnitude.Points as IPointListEdit;
listFilter.Clear();
for (int i = 1; i < dataFilter.Length; i++)
{
listFilter.Add(dataN[i], dataFilter[i]);
}
zedGraphControl1.AxisChange();
zedGraphControl1.Invalidate();
button2.Enabled = false;
button3.Enabled = true;
}
/// <summary>
/// Applies a de-noising filter (using MathNet.Filtering) over the input stream. Implemented as an unweighted median filter.
/// </summary>
/// <param name="input">The input source of doubles.</param>
/// <param name="order">Window Size, should be odd. A larger number results in a smoother response but also in a longer delay.</param>
/// <param name="deliveryPolicy">An optional delivery policy for the input stream.</param>
/// <returns>A high-pass filtered version of the input.</returns>
public static IProducer <double> DenoiseFilter(this IProducer <double> input, int order, DeliveryPolicy <double> deliveryPolicy = null)
{
var filter = OnlineFilter.CreateDenoise(order);
return(input.Select(s => filter.ProcessSample(s), deliveryPolicy));
}