//code adapted from https://www.hackster.io/oztl/near-perfect-gyroscope-e5e10e
/// <summary>
/// Create new MPU 6050 object and initiate device
/// </summary>
/// <param name="busID">Serial bus ID on ESP32 device (1 or 2)</param>
/// <returns></returns>
public static Mpu6050 StartNew(int busID)
{
var tmp = new Mpu6050(busID);
tmp.Start();
return(tmp);
}
public static void Main()
{
#if platform_test && !platform_beetle
Configuration.SetPinFunction(23, DeviceFunction.I2C1_DATA);
Configuration.SetPinFunction(22, DeviceFunction.I2C1_CLOCK);
_mpu = Mpu6050.StartNew(1);
#elif !platform_test && platform_beetle
_mpu = Mpu6050.StartNew(2);
#endif
_mpuArgList = new ArrayList()
{
"", "", ""
};
_led = new PinController.LedBlinker(2);
_touchController.Init();
_palmTouch = _touchController.OpenPin(27, new TouchPadConfig()
{
PinSelectMode = TouchPinSelectMode.GpioIndex
});
_triggerTouch = _touchController.OpenPin(13, new TouchPadConfig()
{
PinSelectMode = TouchPinSelectMode.GpioIndex
});
Debug.WriteLine("Init");
_led.On();
Thread.Sleep(100);
_led.Off();
var AppID = "Esp32.HairTrigger";
var serverUdpPort = 48597;
var nanoConfig = new ArdNetClientConfig(AppID, null, serverUdpPort);
nanoConfig.TCP.HeartbeatConfig.HeartbeatInterval = TimeSpan.FromMilliseconds(2000);
nanoConfig.TCP.HeartbeatConfig.ForceStrictHeartbeat = true;
nanoConfig.TCP.HeartbeatConfig.RespondToHeartbeats = false;
_ardManager = new ArdNetClientManager(SystemConfig.WiFiCredentials, nanoConfig);
_ardManager.TcpEndpointConnected += ArdManager_TcpEndpointConnected;
_ardManager.TcpEndpointDisconnected += NanoClient_ServerDisconnected;
_ardManager.StartWorkerThread();
Debug.WriteLine("Loop");
MpuValue data;
DateTime now;
while (true)
{
_ = _serverMsgHandle.WaitOne();
now = DateTime.UtcNow;
if (!_palmTouch.IsTouched())
{
Thread.Sleep(10);
continue;
}
if ((now - _mpuLastSend).TotalMilliseconds > 75)
{
data = _mpu.GetData();
//gyro data
//x, y, z
_mpuArgList[0] = data.GyroX.ToString();
_mpuArgList[1] = data.GyroY.ToString();
_mpuArgList[2] = data.GyroZ.ToString();
var request = TcpRequest.CreateOutbound("MPU", _mpuArgList);
_ardManager.EnqueueTask(x =>
{
_ = x.SendCommand(request);
});
_mpuLastSend = now;
}
now = DateTime.UtcNow;
if (!_triggerIsDown && (now - _triggerLastSend).TotalMilliseconds > 50)
{
if (_triggerTouch.IsTouched())
{
_ardManager.EnqueueTask(x => x.SendCommand(_triggerTcpRequest_Down));
_triggerIsDown = true;
_triggerLastSend = now;
}
}
else if (_triggerIsDown && (now - _triggerLastSend).TotalMilliseconds > 10)
{
if (!_triggerTouch.IsTouched())
{
_ardManager.EnqueueTask(x => x.SendCommand(_triggerTcpRequest_Up));
_triggerIsDown = false;
_triggerLastSend = now;
}
}
}
}
