public static void Run ()
{
// initialize the serial port for COM1 (using D0 & D1)
// initialize the serial port for COM3 (using D7 & D8)
var serialPort = new SerialPort (SerialPorts.COM3, 57600, Parity.None, 8, StopBits.One);
serialPort.Open ();
var server = new ControlServer (serialPort);
var led = new Microsoft.SPOT.Hardware.OutputPort (Pins.ONBOARD_LED, false);
var lv = false;
var a0 = new AnalogInput (AnalogChannels.ANALOG_PIN_A0, -1);
var a1 = new AnalogInput (AnalogChannels.ANALOG_PIN_A1, -1);
var uptimeVar = server.RegisterVariable ("Uptime (s)", 0);
server.RegisterVariable ("Speed", 0, v => { });
server.RegisterVariable ("Turn", 0, v => { });
var a0Var = server.RegisterVariable ("Analog 0", 0);
var a1Var = server.RegisterVariable ("Analog 1", 0);
var magicCmd = server.RegisterCommand ("Magic", () => {
Debug.Print ("MAAAGIIICC");
return 42;
});
for (var i = 0; true; i++) {
uptimeVar.Value = i;
a0Var.Value = a0.Read ();
a1Var.Value = a1.Read ();
led.Write (lv);
lv = !lv;
Thread.Sleep (1000);
}
}
public static void Run ()
{
//
// Controls server
//
// initialize the serial port for COM1 (using D0 & D1)
// initialize the serial port for COM3 (using D7 & D8)
var serialPort = new SerialPort (SerialPorts.COM3, 57600, Parity.None, 8, StopBits.One);
serialPort.Open ();
var server = new ControlServer (serialPort);
//
// Just some diagnostic stuff
//
var uptimeVar = server.RegisterVariable ("Uptime (s)", 0);
var lv = false;
var led = new Microsoft.SPOT.Hardware.OutputPort (Pins.ONBOARD_LED, lv);
//
// Make the robot
//
var leftMotor = HBridgeMotor.CreateForNetduino (PWMChannels.PWM_PIN_D3, Pins.GPIO_PIN_D1, Pins.GPIO_PIN_D2);
var rightMotor = HBridgeMotor.CreateForNetduino (PWMChannels.PWM_PIN_D6, Pins.GPIO_PIN_D4, Pins.GPIO_PIN_D5);
var robot = new TwoWheeledRobot (leftMotor, rightMotor);
//
// Expose some variables to control it
//
robot.SpeedInput.ConnectTo (server, writeable: true, name: "Speed");
robot.DirectionInput.ConnectTo (server, writeable: true, name: "Turn");
leftMotor.SpeedInput.ConnectTo (server);
rightMotor.SpeedInput.ConnectTo (server);
//
// Show diagnostics
//
for (var i = 0; true; i++) {
uptimeVar.Value = i;
led.Write (lv);
lv = !lv;
Thread.Sleep (1000);
}
}