private void Front_ObstacleDetection_ObstacleDetected(Sensor.ObstacleDetection.DetectionState arg1, double arg2)
{
// If AvoideObstacle is set, check for the detection state
if (AvoidObstacle == true)
{
// Verify detection state and current driving state, if matched, stop robot
if (arg1 == Sensor.ObstacleDetection.DetectionState.Detected && MotorDriver.CurrentState == MotorDriver.State.MovingForward)
{
MotorDriver.Stop();
Debug.WriteLine("Robot stopped! (Obstacle Detected)");
}
}
}
public MainPage()
{
this.InitializeComponent();
// Initialize Motor Driver Pins
MotorDriver.InitializePins(MotorDriver.AvailableGpioPin.GpioPin_5, MotorDriver.AvailableGpioPin.GpioPin_6, MotorDriver.AvailableGpioPin.GpioPin_13, MotorDriver.AvailableGpioPin.GpioPin_26);
// Initialize MyRecognizer and Load Grammar
InitializeSpeechRecognizer();
// Initialize front distance sensor
Sensor.UltrasonicDistanceSensor Front_DistanceSensor = new Sensor.UltrasonicDistanceSensor(Sensor.UltrasonicDistanceSensor.AvailableGpioPin.GpioPin_12, Sensor.UltrasonicDistanceSensor.AvailableGpioPin.GpioPin_16);
// Initialize ObstacleDetection object
Sensor.ObstacleDetection Front_ObstacleDetection = new Sensor.ObstacleDetection(Front_DistanceSensor);
Front_ObstacleDetection.ObstacleDetected += Front_ObstacleDetection_ObstacleDetected;
}
/// <summary>
/// Fires when MyRecognizer successfully parses a speech
/// </summary>
/// <param name="sender"></param>
/// <param name="args"></param>
private void MyRecognizer_ResultGenerated(SpeechContinuousRecognitionSession sender, SpeechContinuousRecognitionResultGeneratedEventArgs args)
{
// Write Debug Information
Debug.WriteLine(args.Result.Text);
// Drive robot on recognized speech
switch (args.Result.Text)
{
case "move forward":
MotorDriver.MoveForward();
break;
case "move reverse":
MotorDriver.MoveReverse();
break;
case "turn right":
MotorDriver.TurnRight();
break;
case "turn left":
MotorDriver.TurnLeft();
break;
case "stop":
MotorDriver.Stop();
break;
case "engage obstacle detection":
AvoidObstacle = true;
break;
case "disengage obstacle detection":
AvoidObstacle = false;
break;
default:
break;
}
// Turn on/off obstacle detection
}