public UsbSerialCommunicationChannel(GTM.GHIElectronics.USBSerial ser)
{
_ser = ser;
_ser.Configure(115200, SerialParity.None, SerialStopBits.One, 8, HardwareFlowControl.NotRequired);
_ser.Port.DataReceived += Port_DataReceived;
_ser.Port.Open();
}
public static void StartNetworkServices(GTM.GHIElectronics.EthernetENC28 ethernetENC28, string deviceName, bool connected, string uniqueDeviceIdentifier = "")
{
ethernetENC28.UseThisNetworkInterface();
while (!ethernetENC28.IsNetworkConnected) {
Thread.Sleep(1000);
}
sm = Utilities.StartNetworkServices(deviceName, connected, uniqueDeviceIdentifier);
}
public SensorTemp(GTM.GHIElectronics.TempHumidity tempHumidity, int sampleRateMilliseconds, string name)
: base("temp", "c", ValuesPerSample.One, sampleRateMilliseconds, name)
{
tempHumidity.MeasurementComplete += tempHumidity_MeasurementComplete;
// tempHumidity.RequestSingleMeasurement();
tempHumidity.MeasurementInterval = 5000;
tempHumidity.StartTakingMeasurements();
StartMeasuring();
}
void tempHumidity_MeasurementComplete(GTM.GHIElectronics.TempHumidity sender, GTM.GHIElectronics.TempHumidity.MeasurementCompleteEventArgs e)
{
lastTempReading = e.Temperature;
lastHumidityReading = e.RelativeHumidity;
}
public SensorLight(GTM.GHIElectronics.LightSense lightSense, int sampleRateMilliseconds, string name)
: base(light", "p", ValuesPerSample.One, sampleRateMilliseconds, name)
void button_ButtonPressed(GTM.GHIElectronics.Button sender, GTM.GHIElectronics.Button.ButtonState state)
{
}
void gyro_MeasurementComplete(GTM.Seeed.Gyro sender, GTM.Seeed.Gyro.SensorData sensorData)
{
// Grab the gyro reading and run our balancing calculations
// Calculate the time delta since the last reading
DateTime now = DateTime.Now;
double dt = (now.Ticks - _gyroLastReadTime.Ticks) / (double)TimeSpan.TicksPerSecond;
_gyroLastReadTime = now;
// Get the current accelerometer readings
var acceleration = accelerometer.RequestMeasurement();
var accelAngle = (System.Math.Atan2(acceleration.Y, acceleration.Z) + System.Math.PI) * RagToDeg;
// Use a complementary filter to combine the data from the gyro and the accelerometer to
// compensate for the gyro drift. This gives us a reasonably accurate reading for the current angle of the
// FEX Cerbot
_angle = GyroFactor * (_angle + sensorData.Y * dt) + AccelFactor * accelAngle;
// Calculate the PID values.
// P - error
// I - errorSum
// D - d
double error = (TargetAngle - _angle);
_errorSum += error;
var d = (error - _prevError);
// Remember this error value for the next iteration
_prevError = error;
// Calculate the PID output
double output = Kp * error + Ki * _errorSum + Kd * d;
// Calculate the required motor speed based on the PID output
// This value is picked up in our control thread which will actually set the motor speed
_speed = (int)(MotorSpeedFactor * output + 0.5);
// Ensure the motor speed does not exceed the allowed values
if (_speed > 100) _speed = 100;
if (_speed < -100) _speed = -100;
}
