public static void Main()
{
AI ai = new AI();
ai.Neck = new NeckController(GlobalPins.NECK_PIN);
ai.Eyes = new EyesController(GlobalPins.EYE_PIN);
while (true)
{
ai.FindClosestBearing();
Thread.Sleep(2000);
}
}
public static void Main()
{
bool ledState = true;
OutputPort led = new OutputPort(Pins.ONBOARD_LED, ledState);
// some counters for monitoring the "fps"
ulong frameCount = 0;
DateTime startTime = DateTime.Now;
TimeSpan runningTime;
float fps = 0;
AI ai = new AI();
ai.Wheels = new WheelsController(GlobalPins.LEFT_WHEEL_PIN_A, GlobalPins.LEFT_WHEEL_PIN_B, GlobalPins.LEFT_WHEEL_PIN_P, GlobalPins.RIGHT_WHEEL_PIN_A, GlobalPins.RIGHT_WHEEL_PIN_B, GlobalPins.RIGHT_WHEEL_PIN_P);
ai.Neck = new NeckController(GlobalPins.NECK_PIN);
ai.Eyes = new EyesController(GlobalPins.EYE_PIN);
//ai.Display = new DisplayController(Pins.GPIO_PIN_D13, Pins.GPIO_PIN_D12, Pins.GPIO_PIN_D11);
//ai.Wheels.SetSpeed(100); ai.Wheels.Update(); Thread.Sleep(1000);
//ai.Wheels.SetSpeed(0); ai.Wheels.Update(); Thread.Sleep(1000);
//ai.Wheels.SetSpeed(-100); ai.Wheels.Update(); Thread.Sleep(1000);
//ai.Wheels.SetSpeed(0); ai.Wheels.Update(); Thread.Sleep(1000);
//ai.Wheels.SetSpeed(WheelsController.Direction.left, 100); ai.Wheels.Update(); Thread.Sleep(1000);
//ai.Wheels.SetSpeed(0); ai.Wheels.Update(); Thread.Sleep(1000);
//while (true) ;
ai.wake();
while (ai.State != AI.AIState.dead)
{
ai.Update();
frameCount++;
// Every few frames spit out an FPS counter
if ((frameCount % 100) == 0)
{
runningTime = DateTime.Now - startTime;
fps = (float)frameCount / Tools.TotalMilliseconds(runningTime);
fps = fps * 1000;
//Debug.Print("FPS: " + frameCount + ": " + fps.ToString());
ledState = !ledState;
}
led.Write(ledState);
}
ai.Sleep();
}
