static void Main(string[] args)
{
Console.WriteLine("Hello VL53L0X!");
Vl53L0X vL53L0X = new Vl53L0X(I2cDevice.Create(new I2cConnectionSettings(1, Vl53L0X.DefaultI2cAddress)));
Console.WriteLine($"Rev: {vL53L0X.Information.Revision}, Prod: {vL53L0X.Information.ProductId}, Mod: {vL53L0X.Information.ModuleId}");
Console.WriteLine($"Offset in µm: {vL53L0X.Information.OffsetMicrometers}, Signal rate fixed 400 µm: {vL53L0X.Information.SignalRateMeasuementFixed400Micrometers}");
vL53L0X.MeasurementMode = MeasurementMode.Continuous;
while (!Console.KeyAvailable)
{
try
{
var dist = vL53L0X.Distance;
if (dist != (ushort)OperationRange.OutOfRange)
{
Console.WriteLine($"Distance: {dist}");
}
else
{
Console.WriteLine("Invalid data");
}
}
catch (Exception ex)
{
Console.WriteLine($"Exception: {ex.Message}");
}
Thread.Sleep(500);
}
}
public Result <Unit> Init()
{
_controller = new GpioController(PinNumberingScheme.Logical, new RaspberryPi3Driver());
_controller.OpenPin(Pin.HallBottom, PinMode.InputPullUp);
_controller.OpenPin(Pin.HallTop, PinMode.InputPullUp);
_controller.OpenPin(Pin.PhotoelectricBarrier, PinMode.InputPullUp);
_controller.OpenPin(Pin.MotorEnable, PinMode.Output);
_controller.OpenPin(Pin.MotorLeft, PinMode.Output);
_controller.OpenPin(Pin.MotorRight, PinMode.Output);
_controller.OpenPin(Pin.EmergencyTop, PinMode.InputPullUp);
_controller.OpenPin(Pin.DC12_1, PinMode.Output);
_controller.OpenPin(Pin.DC12_2, PinMode.Output);
//_pwmMotor = new SoftwarePwmChannel(Pin.MotorEnable, 200, 0.1);
//_pwmMotor.Start();
_controller.Write(Pin.MotorEnable, PinValue.High);
_controller.Write(Pin.MotorLeft, PinValue.Low);
_controller.Write(Pin.MotorRight, PinValue.Low);
_controller.Write(Pin.DC12_1, PinValue.Low);
_controller.Write(Pin.DC12_2, PinValue.Low);
Console.WriteLine($"Init sensor");
_bh1750Fvi = new Bh1750fvi(I2cDevice.Create(new I2cConnectionSettings(1, Bh1750fviExtenstion.DefaultI2cAddress))); // 23
_vl53L0X = new Vl53L0X(I2cDevice.Create(new I2cConnectionSettings(1, Vl53L0X.DefaultI2cAddress))); // 29
_bme280 = new Bme280(I2cDevice.Create(new I2cConnectionSettings(1, Bmx280Base.SecondaryI2cAddress))); // 76
_measurementTime = _bme280.GetMeasurementDuration();
_bme280.SetPowerMode(Bmx280PowerMode.Normal);
//Thread.Sleep(_measurementTime);
//_bme280.TryReadTemperature(out var tempValue);
//_bme280.TryReadPressure(out var preValue);
//_bme280.TryReadHumidity(out var humValue);
//_bme280.TryReadAltitude(out var altValue);
//Console.WriteLine($"Temperature: {tempValue.DegreesCelsius:0.#}\u00B0C");
//Console.WriteLine($"Pressure: {preValue.Hectopascals:#.##} hPa");
//Console.WriteLine($"Relative humidity: {humValue.Percent:#.##}%");
//Console.WriteLine($"Estimated altitude: {altValue.Meters:#} m");
_amg88xx = new Amg88xx(I2cDevice.Create(new I2cConnectionSettings(1, Amg88xx.AlternativeI2cAddress))); // 69
try
{
_mpu9250 = new Mpu9250(I2cDevice.Create(new I2cConnectionSettings(1, Mpu6500.DefaultI2cAddress))); // 68
}
catch (IOException e)
{
Console.WriteLine("AK8963 is exposed, try to connect directly.");
_mpu9250 = new Mpu9250(I2cDevice.Create(new I2cConnectionSettings(1, Mpu6500.DefaultI2cAddress)), i2CDeviceAk8963: I2cDevice.Create(new I2cConnectionSettings(1, Ak8963.DefaultI2cAddress)));
}
_mpu9250.MagnetometerMeasurementMode = MeasurementMode.ContinuousMeasurement100Hz;
Thread.Sleep(100);
Console.WriteLine($"Finished Init sensor");
Run();
Thread.Sleep(100);
Calibrate();
return(Unit.Instance);
}
