public MeadowApp()
{
var led = new RgbLed(Device, Device.Pins.OnboardLedRed, Device.Pins.OnboardLedGreen, Device.Pins.OnboardLedBlue);
led.SetColor(RgbLed.Colors.Red);
servo = new Servo(Device.CreatePwmPort(Device.Pins.D08), NamedServoConfigs.SG90);
servo.RotateTo(0);
rotaryEncoder = new RotaryEncoder(Device, Device.Pins.D02, Device.Pins.D03);
rotaryEncoder.Rotated += (s, e) =>
{
if (e.Direction == Meadow.Peripherals.Sensors.Rotary.RotationDirection.Clockwise)
{
angle++;
}
else
{
angle--;
}
if (angle > 180)
{
angle = 180;
}
else if (angle < 0)
{
angle = 0;
}
servo.RotateTo(angle);
};
led.SetColor(RgbLed.Colors.Green);
}
void TestServo()
{
Console.WriteLine("TestServo...");
while (true)
{
for (int i = 0; i <= servo.Config.MaximumAngle; i++)
{
servo.RotateTo(i);
Console.WriteLine($"Rotating to {i}");
Thread.Sleep(40);
}
Thread.Sleep(2000);
for (int i = 180; i >= servo.Config.MinimumAngle; i--)
{
servo.RotateTo(i);
Console.WriteLine($"Rotating to {i}");
Thread.Sleep(40);
}
Thread.Sleep(2000);
//if (servo.Angle <= servo.Config.MinimumAngle)
//{
// Console.WriteLine($"Rotating to {servo.Config.MaximumAngle}");
// servo.RotateTo(servo.Config.MaximumAngle);
//}
//else
//{
// Console.WriteLine($"Rotating to {servo.Config.MinimumAngle}");
// servo.RotateTo(servo.Config.MinimumAngle);
//}
//Thread.Sleep(4000);
}
}
/// <summary>
/// Turns camera to selected angle
/// </summary>
/// <param name="verAngle">Pitch</param>
/// <param name="horAngle">Yaw</param>
public void SetAngle(Angle verAngle, Angle horAngle)
{
lock (locker)
{
verticalAngle = verAngle;
horizontalAngle = horAngle;
}
vertical.RotateTo(verticalAngle + angleDelta);
horizontal.RotateTo(angleDelta - horizontalAngle);
}
/// <summary>
/// Allows fine tuning of servo or sets it to requested angle
/// </summary>
/// <param name="angle">Requested angle</param>
public async void SetAngle(int angle)
{
servo.RotateTo(new Angle(angle + 90));
await Task.Delay(500);
servo.Stop();
}
public MeadowApp()
{
var led = new RgbLed(Device, Device.Pins.OnboardLedRed, Device.Pins.OnboardLedGreen, Device.Pins.OnboardLedBlue);
led.SetColor(RgbLed.Colors.Red);
servo = new Servo(Device.CreatePwmPort(Device.Pins.D03), NamedServoConfigs.SG90);
servo.RotateTo(0);
Thread.Sleep(1000);
servo.RotateTo(180);
button = new PushButton(Device, Device.Pins.D04);
button.Clicked += ButtonClicked;
led.SetColor(RgbLed.Colors.Green);
}
void TestServo()
{
while (true)
{
if (servo.Angle <= servo.Config.MinimumAngle)
{
Console.WriteLine($"Rotating to {servo.Config.MaximumAngle}");
servo.RotateTo(servo.Config.MaximumAngle);
}
else
{
Console.WriteLine($"Rotating to {servo.Config.MinimumAngle}");
servo.RotateTo(servo.Config.MinimumAngle);
}
Thread.Sleep(4000);
}
}
public MeadowApp()
{
Console.WriteLine("Initializing...");
servo = new Servo(Device.CreatePwmPort(Device.Pins.D04), NamedServoConfigs.SG90);
servo.RotateTo(0);
TestServo();
}
public void Kick()
{
Thread _animationThread = new Thread(() =>
{
_kickRight = !_kickRight;
if (_kickRight)
{
_servo.RotateTo(180);
}
else
{
_servo.RotateTo(0);
}
});
_animationThread.Start();
}
void Initialize()
{
var onboardLed = new RgbPwmLed(
device: Device,
redPwmPin: Device.Pins.OnboardLedRed,
greenPwmPin: Device.Pins.OnboardLedGreen,
bluePwmPin: Device.Pins.OnboardLedBlue);
onboardLed.SetColor(Color.Red);
servo = new Servo(Device.CreatePwmPort(Device.Pins.D03), NamedServoConfigs.SG90);
servo.RotateTo(NamedServoConfigs.SG90.MaximumAngle);
Thread.Sleep(1000);
servo.RotateTo(NamedServoConfigs.SG90.MinimumAngle);
button = new PushButton(Device, Device.Pins.D04);
button.Clicked += ButtonClicked;
onboardLed.SetColor(Color.Green);
}
public void Initialize(IMeadowDevice device, IPin PwmPin)
{
if (initialized)
{
return;
}
servo = new Servo(device, PwmPin, NamedServoConfigs.SG90);
servo.RotateTo(NamedServoConfigs.SG90.MinimumAngle);
initialized = true;
}
public MeadowApp()
{
var onboardLed = new RgbPwmLed(
device: Device,
redPwmPin: Device.Pins.OnboardLedRed,
greenPwmPin: Device.Pins.OnboardLedGreen,
bluePwmPin: Device.Pins.OnboardLedBlue);
onboardLed.SetColor(Color.Red);
servo = new Servo(Device.CreatePwmPort(Device.Pins.D08), NamedServoConfigs.SG90);
servo.RotateTo(new Angle(0, AU.Degrees));
rotaryEncoder = new RotaryEncoder(Device, Device.Pins.D02, Device.Pins.D03);
rotaryEncoder.Rotated += (s, e) =>
{
if (e.New == Meadow.Peripherals.Sensors.Rotary.RotationDirection.Clockwise)
{
angle += new Angle(1, AU.Degrees);
}
else
{
angle -= new Angle(1, AU.Degrees);
}
if (angle > new Angle(180, AU.Degrees))
{
angle = new Angle(180, AU.Degrees);
}
else if (angle < new Angle(0, AU.Degrees))
{
angle = new Angle(0, AU.Degrees);
}
servo.RotateTo(angle);
};
onboardLed.SetColor(Color.Green);
}
private async void RotateFlag()
{
if (IsFlagMoving)
{
return;
}
IsFlagMoving = true;
try
{
await _servo.RotateTo(_upPosition);
await Task.Delay(2000);
await _servo.RotateTo(_downPosition, true);
}
finally
{
IsFlagMoving = false;
}
}
private async void Initialize()
{
// create the push button
_button = new PushButton(Device, _buttonPin, Meadow.Hardware.ResistorMode.InternalPullUp);
_button.Clicked += OnButtonClicked;
// create the servo object
_servo = new Servo(Device.CreatePwmPort(_servoPin), NamedServoConfigs.SG90);
// initialize to a known state
await _servo.RotateTo(_downPosition, true);
}
void Draw()
{
int angle = 160;
int increment = 4;
int x, y = 0;
while (true)
{
graphics.Clear();
DrawRadar();
graphics.DrawLine(120, 170, 105, (float)(angle * Math.PI / 180), Color.Yellow);
if (angle >= 180)
{
increment = -4;
}
if (angle <= 0)
{
increment = 4;
}
angle += increment;
servo.RotateTo(new Angle(angle, AU.Degrees));
graphics.DrawText(0, 0, $"{180 - angle}°", Color.Yellow);
if (sensor.Distance != null && sensor.Distance >= new Length(0, LU.Millimeters))
{
graphics.DrawText(170, 0, $"{sensor.Distance?.Millimeters}mm", Color.Yellow);
radarData[angle] = (float)(sensor.Distance?.Millimeters / 2);
}
else
{
radarData[angle] = 0;
}
for (int i = 0; i < 180; i++)
{
x = 120 + (int)(radarData[i] * MathF.Cos(i * MathF.PI / 180f));
y = 170 - (int)(radarData[i] * MathF.Sin(i * MathF.PI / 180f));
graphics.DrawCircle(x, y, 2, Color.Yellow, true);
}
graphics.Show();
Thread.Sleep(100);
}
}
void Draw()
{
int angle = 160;
int increment = 4;
int x, y = 0;
while (true)
{
graphics.Clear();
DrawRadar();
graphics.DrawLine(120, 170, 105, (float)(angle * Math.PI / 180), Color.Yellow);
if (angle >= 180)
{
increment = -4;
}
if (angle <= 0)
{
increment = 4;
}
angle += increment;
servo.RotateTo(angle);
graphics.DrawText(0, 0, $"{180 - angle}°", Color.Yellow);
if (sensor?.Conditions?.Distance != null && sensor?.Conditions?.Distance.Value >= 0)
{
graphics.DrawText(170, 0, $"{sensor.Conditions.Distance.Value}mm", Color.Yellow);
radarData[angle] = sensor.Conditions.Distance.Value / 2;
}
else
{
radarData[angle] = 0;
}
for (int i = 0; i < 180; i++)
{
x = 120 + (int)(radarData[i] * MathF.Cos(i * MathF.PI / 180f));
y = 170 - (int)(radarData[i] * MathF.Sin(i * MathF.PI / 180f));
graphics.DrawCircle(x, y, 2, Color.Yellow, true);
}
graphics.Show();
Thread.Sleep(100);
}
}
void Initialize()
{
var onboardLed = new RgbPwmLed(
device: Device,
redPwmPin: Device.Pins.OnboardLedRed,
greenPwmPin: Device.Pins.OnboardLedGreen,
bluePwmPin: Device.Pins.OnboardLedBlue);
onboardLed.SetColor(Color.Red);
var config = new SpiClockConfiguration(
new Frequency(48000, Frequency.UnitType.Kilohertz),
SpiClockConfiguration.Mode.Mode3);
var spiBus = Device.CreateSpiBus(
Device.Pins.SCK,
Device.Pins.MOSI,
Device.Pins.MISO, config);
var display = new St7789(
device: Device,
spiBus: spiBus,
chipSelectPin: Device.Pins.D02,
dcPin: Device.Pins.D01,
resetPin: Device.Pins.D00,
width: 240, height: 240);
graphics = new MicroGraphics(display);
graphics.CurrentFont = new Font12x20();
graphics.Rotation = RotationType._270Degrees;
var i2cBus = Device.CreateI2cBus(I2cBusSpeed.FastPlus);
sensor = new Vl53l0x(Device, i2cBus);
sensor.StartUpdating(TimeSpan.FromMilliseconds(200));
servo = new Servo(Device.CreatePwmPort(Device.Pins.D05), NamedServoConfigs.SG90);
servo.RotateTo(new Angle(0, AU.Degrees));
onboardLed.SetColor(Color.Green);
}
public MeadowApp()
{
var servoConfig = new ServoConfig(
minimumAngle: 0,
maximumAngle: 180,
minimumPulseDuration: 700,
maximumPulseDuration: 3000,
frequency: 50);
servo = new Servo(Device.CreatePwmPort(Device.Pins.D03), servoConfig);
servo.RotateTo(0);
button = new PushButton(Device, Device.Pins.D04);
button.DebounceDuration = new TimeSpan(100);
button.Clicked += ButtonClicked;
//this.changeTimer.AutoReset = true;
this.changeTimer.Elapsed += ChangeTimer_Elapsed;
this.changeTimer.Start();
// Keeps the app running
Thread.Sleep(Timeout.Infinite);
}
void Initialize()
{
var led = new RgbLed(
Device,
Device.Pins.OnboardLedRed,
Device.Pins.OnboardLedGreen,
Device.Pins.OnboardLedBlue);
led.SetColor(RgbLed.Colors.Red);
var config = new SpiClockConfiguration(24000, SpiClockConfiguration.Mode.Mode3);
var spiBus = Device.CreateSpiBus(
Device.Pins.SCK,
Device.Pins.MOSI,
Device.Pins.MISO, config);
display = new St7789(device: Device, spiBus: spiBus,
chipSelectPin: Device.Pins.D02,
dcPin: Device.Pins.D01,
resetPin: Device.Pins.D00,
width: 240, height: 240);
graphics = new GraphicsLibrary(display);
graphics.CurrentFont = new Font12x20();
graphics.Rotation = GraphicsLibrary.RotationType._270Degrees;
var i2cBus = Device.CreateI2cBus(I2cBusSpeed.FastPlus);
sensor = new Vl53l0x(Device, i2cBus);
sensor.StartUpdating(200);
servo = new Servo(Device.CreatePwmPort(Device.Pins.D05), NamedServoConfigs.SG90);
servo.RotateTo(0);
led.SetColor(RgbLed.Colors.Green);
}
public void WaitingNetworkConnection()
{
_isRotating = true;
Thread _animationThread = new Thread(() =>
{
int _rotationAngle = 0;
while (_isRotating)
{
while (_rotationAngle < 180)
{
if (!_isRotating)
{
break;
}
_rotationAngle++;
_servo.RotateTo(_rotationAngle);
Thread.Sleep(15);
}
while (_rotationAngle > 0)
{
if (!_isRotating)
{
break;
}
_rotationAngle--;
_servo.RotateTo(_rotationAngle);
Thread.Sleep(15);
}
}
});
_animationThread.Start();
}
public void RotateTo(int degrees)
{
StopSweep();
_servo.RotateTo(degrees);
}
public void SetAngle(int angle)
{
servo.RotateTo(angle);
}
void ButtonClicked(object sender, EventArgs e)
{
servo.RotateTo(75);
Thread.Sleep(1000);
servo.RotateTo(0);
}
void ButtonClicked(object sender, EventArgs e)
{
servo.RotateTo(new Angle(75, AU.Degrees));
Thread.Sleep(1000);
servo.RotateTo(new Angle(0, AU.Degrees));
}
private static void InitializeGCodeParser()
{
settings = new Settings();
settings.OneStepZ_Angle_Positive = 30;
settings.OneStepZ_Angle_Negative = 15;
var servo = new Servo(
PWMChannels.PWM_PIN_D10,
new ServoConfig(0, 180, 500, 2500, 50));
servo.RotateTo(15);
Thread.Sleep(500);
servo.RotateTo(35);
var motorShield = new AdafruitMotorShield();
IDeviceDelegateOneStep oneStepX = PrepareOneStepDelegate(motorShield, 1, OperationMode.FullStep);
IDeviceDelegateOneStep oneStepY = PrepareOneStepDelegate(motorShield, 2, OperationMode.FullStep);
IDeviceDelegateOneStep oneStepZ = (steps) =>
{
var a = servo.Angle;
if (steps >= 0)
{
servo.RotateTo(settings.OneStepZ_Angle_Negative);
}
else
{
servo.RotateTo(settings.OneStepZ_Angle_Positive);
}
if (a != servo.Angle)
{
Thread.Sleep(500);
}
};
IDeviceDelegateStop startX = () => { };
IDeviceDelegateStop startY = () => { };
IDeviceDelegateStop startZ = () => {
servo.RotateTo(settings.OneStepZ_Angle_Negative);
Thread.Sleep(500);
servo.RotateTo(settings.OneStepZ_Angle_Positive);
Thread.Sleep(500);
servo.RotateTo(settings.OneStepZ_Angle_Negative);
Thread.Sleep(500);
servo.RotateTo(settings.OneStepZ_Angle_Positive);
};
IDeviceDelegateStop stopX = () => { motorShield.GetStepper(2).ReleaseHoldingTorque(); };
IDeviceDelegateStop stopY = () => { motorShield.GetStepper(1).ReleaseHoldingTorque(); };
IDeviceDelegateStop stopZ = () => { servo.RotateTo(settings.OneStepZ_Angle_Negative); };
var device = new XYZGantryDevice();
device.SetStepX(oneStepX);
device.SetStepY(oneStepY);
device.SetStepZ(oneStepZ);
device.SetStartX(startX);
device.SetStartY(startY);
device.SetStartZ(startZ);
device.SetStopX(stopX);
device.SetStopY(stopY);
device.SetStopZ(stopZ);
device.Calibrate(25f, 25f, 1);
var machine = new GCodeMachine(device);
parser = new GCodeParser(machine);
}
public void RotateTo(Angle angle)
{
servo.RotateTo(angle);
}
private void ChangeTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
++this.angleIndex;
this.angleIndex %= this.angles.Length;
servo.RotateTo(this.angles[this.angleIndex]);
}
public PlayerController(Servo servo)
{
_servo = servo;
_servo.RotateTo(0);
}