private async void Setup()
{
this.hat = await GIS.FEZHAT.CreateAsync();
//this.hat.S1.SetLimits(500, 2400, 0, 180);
//this.hat.S2.SetLimits(500, 2400, 0, 180);
this.timer = new DispatcherTimer();
this.timer.Interval = TimeSpan.FromMilliseconds(100);
this.timer.Start();
Mobil = new MobilRemote();
this.timer.Tick += (a, b) =>
{
/*
* double x, y, z;
*
* this.hat.GetAcceleration(out x, out y, out z);
*
* this.LightTextBox.Text = this.hat.GetLightLevel().ToString("P2");
* this.TempTextBox.Text = this.hat.GetTemperature().ToString("N2");
* this.AccelTextBox.Text = $"({x:N2}, {y:N2}, {z:N2})";
* this.Button18TextBox.Text = this.hat.IsDIO18Pressed().ToString();
* this.Button22TextBox.Text = this.hat.IsDIO22Pressed().ToString();
* this.AnalogTextBox.Text = this.hat.ReadAnalog(GIS.FEZHAT.AnalogPin.Ain1).ToString("N2");
*/
if (isNavigating)
{
return;
}
isNavigating = true;
this.hat.D2.Color = GIS.FEZHAT.Color.Black;
this.hat.D3.Color = GIS.FEZHAT.Color.Black;
switch (Mobil.Arah)
{
case MobilRemote.ArahJalan.Maju:
this.hat.MotorA.Speed = 1.0;
this.hat.MotorB.Speed = 1.0;
this.hat.D2.Color = GIS.FEZHAT.Color.Green;
this.hat.D3.Color = GIS.FEZHAT.Color.Green;
break;
case MobilRemote.ArahJalan.Mundur:
this.hat.MotorA.Speed = -1.0;
this.hat.MotorB.Speed = -1.0;
this.hat.D2.Color = GIS.FEZHAT.Color.Yellow;
this.hat.D3.Color = GIS.FEZHAT.Color.Yellow;
break;
case MobilRemote.ArahJalan.Kiri:
this.hat.MotorA.Speed = -0.7;
this.hat.MotorB.Speed = 0.7;
this.hat.D2.Color = GIS.FEZHAT.Color.Blue;
this.hat.D3.Color = GIS.FEZHAT.Color.Blue;
break;
case MobilRemote.ArahJalan.Kanan:
this.hat.MotorB.Speed = -0.7;
this.hat.MotorA.Speed = 0.7;
this.hat.D2.Color = GIS.FEZHAT.Color.Cyan;
this.hat.D3.Color = GIS.FEZHAT.Color.Cyan;
break;
case MobilRemote.ArahJalan.Stop:
this.hat.MotorA.Speed = 0.0;
this.hat.MotorB.Speed = 0.0;
this.hat.D2.Color = GIS.FEZHAT.Color.Red;
this.hat.D3.Color = GIS.FEZHAT.Color.Red;
break;
}
isNavigating = false;
};
timer.Start();
client = new MqttClient(MQTT_BROKER_ADDRESS);
string clientId = Guid.NewGuid().ToString();
client.Connect(clientId);
SubscribeMessage();
}
private async void Setup()
{
this.hat = await GIS.FEZHAT.CreateAsync();
//this.hat.S1.SetLimits(500, 2400, 0, 180);
//this.hat.S2.SetLimits(500, 2400, 0, 180);
this.timer = new DispatcherTimer();
this.timer.Interval = TimeSpan.FromMilliseconds(100);
this.timer.Start();
Mobil = new MobilRemote();
this.timer.Tick += (a,b) =>
{
/*
double x, y, z;
this.hat.GetAcceleration(out x, out y, out z);
this.LightTextBox.Text = this.hat.GetLightLevel().ToString("P2");
this.TempTextBox.Text = this.hat.GetTemperature().ToString("N2");
this.AccelTextBox.Text = $"({x:N2}, {y:N2}, {z:N2})";
this.Button18TextBox.Text = this.hat.IsDIO18Pressed().ToString();
this.Button22TextBox.Text = this.hat.IsDIO22Pressed().ToString();
this.AnalogTextBox.Text = this.hat.ReadAnalog(GIS.FEZHAT.AnalogPin.Ain1).ToString("N2");
*/
if (isNavigating) return;
isNavigating = true;
this.hat.D2.Color = GIS.FEZHAT.Color.Black;
this.hat.D3.Color = GIS.FEZHAT.Color.Black;
switch (Mobil.Arah)
{
case MobilRemote.ArahJalan.Maju:
this.hat.MotorA.Speed = 1.0;
this.hat.MotorB.Speed = 1.0;
this.hat.D2.Color = GIS.FEZHAT.Color.Green;
this.hat.D3.Color = GIS.FEZHAT.Color.Green;
break;
case MobilRemote.ArahJalan.Mundur:
this.hat.MotorA.Speed = -1.0;
this.hat.MotorB.Speed = -1.0;
this.hat.D2.Color = GIS.FEZHAT.Color.Yellow;
this.hat.D3.Color = GIS.FEZHAT.Color.Yellow;
break;
case MobilRemote.ArahJalan.Kiri:
this.hat.MotorA.Speed = -0.7;
this.hat.MotorB.Speed = 0.7;
this.hat.D2.Color = GIS.FEZHAT.Color.Blue;
this.hat.D3.Color = GIS.FEZHAT.Color.Blue;
break;
case MobilRemote.ArahJalan.Kanan:
this.hat.MotorB.Speed = -0.7;
this.hat.MotorA.Speed = 0.7;
this.hat.D2.Color = GIS.FEZHAT.Color.Cyan;
this.hat.D3.Color = GIS.FEZHAT.Color.Cyan;
break;
case MobilRemote.ArahJalan.Stop:
this.hat.MotorA.Speed = 0.0;
this.hat.MotorB.Speed = 0.0;
this.hat.D2.Color = GIS.FEZHAT.Color.Red;
this.hat.D3.Color = GIS.FEZHAT.Color.Red;
break;
}
isNavigating = false;
};
timer.Start();
client = new MqttClient(MQTT_BROKER_ADDRESS);
string clientId = Guid.NewGuid().ToString();
client.Connect(clientId);
SubscribeMessage();
}
