public async void ScannerTask()
{
/* Initialize UltraSonic Distance Sensor */
Library.Sensor.UltrasonicDistanceSensor DistanceSensor = new Library.Sensor.UltrasonicDistanceSensor(Library.Sensor.UltrasonicDistanceSensor.AvailableGpioPin.GpioPin_22, Library.Sensor.UltrasonicDistanceSensor.AvailableGpioPin.GpioPin_27);
/*
* 'CurrentRotation' Holds the current rotation
* ============|===========================|===========
* Description | Actual Data Feed To Servo | Assumption
* ============|===========================|===========
* Left Most | 0 | -70
* Center | 70 | 0
* Right Most | 140 | +70
*/
byte CurrentRotation = 70; // << HOLDS ACTUAL DATA TO BE FEED TO SERVO
/*
* Holds direction to move
+1 means scanner should move right
* -1 means scanner should move left
*/
int Direction = 1;
double Distance;
byte Temp;
/* Scan infinitely */
while (true)
{
/*
* Take multiple sample of the distance in current sight
* Higher the sampling, accurate the result but will cause slower scanning.
*/
Distance = 0; // Reset Distance
for (int i = 0; i < NumberOfSample; i++)
{
Distance += DistanceSensor.GetDistance(); // Add distance
await Task.Delay(1); // Wait for a ms
}
Distance /= NumberOfSample; // Calculate average
/*
* Send current angle to Gateway to set servo
* This project was developed to map object distances between -70 to +70 degree
* Thus servo will move between: 00 - 70 - 140 (Actual Angle)
* -70 - 0 - +70 (Assumed Angle)
*/
Temp = (byte)((140 - CurrentRotation > 0) ? 140 - CurrentRotation : 0);
/* Send angle to the gateway in a byte */
/* A dummy byte will be returned from the function */
Temp = Library.Communication.ArduinoGateway.MoveServo(Temp).Result[0];
/*
* If right direction is fully mapped, change scanning direction to left.
* Or else if left is fully scanned, change direction to right.
*/
if (CurrentRotation > 140)
{
Direction = -1;
CurrentRotation = (byte)(CurrentRotation + Direction);
}
else if (CurrentRotation == 0)
{
Direction = 1;
CurrentRotation = (byte)(CurrentRotation + Direction);
}
/* Update current rotation with direction */
CurrentRotation = (byte)(CurrentRotation + Direction);
/*
* Update UI
* Dispatcher will helps to update UI components acquired by Main thread. (Because we're on another thread)
*/
await Windows.ApplicationModel.Core.CoreApplication.MainView.CoreWindow.Dispatcher.RunAsync(CoreDispatcherPriority.Normal,
() =>
{
/* Convert current rotation from 0 to 140 into -70 to +70 */
ScannerLine.Angle = CurrentRotation - 70;
/* If all available angles has been scanned for a direction, clean LiDAR map */
if (ScannerLine.Angle == -70 || ScannerLine.Angle == 70)
{
Grid_Mapper.Children.Clear();
}
/* Do not plot object > 500 cm */
if (Distance > 500)
{
Distance = 0;
}
/* LiDAR map developed for this project is only for up-to 300 cm. Thus eliminate higher distances. */
if (Distance > 299)
{
Distance = 299;
}
/* Plot distance into LiDAR map */
Grid_Mapper.Children.Add(DistanceMapper.GetMapper(ScannerLine.Angle, (int)Distance));
});
/* Hold for 5ms to take breath entire system */
await Task.Delay(5);
}
}
public async void ScannerTask()
{
/* Initialize UltraSonic Distance Sensor */
Library.Sensor.UltrasonicDistanceSensor DistanceSensor = new Library.Sensor.UltrasonicDistanceSensor(Library.Sensor.UltrasonicDistanceSensor.AvailableGpioPin.GpioPin_22, Library.Sensor.UltrasonicDistanceSensor.AvailableGpioPin.GpioPin_27);
/*
'CurrentRotation' Holds the current rotation
============|===========================|===========
Description | Actual Data Feed To Servo | Assumption
============|===========================|===========
Left Most | 0 | -70
Center | 70 | 0
Right Most | 140 | +70
*/
byte CurrentRotation = 70; // << HOLDS ACTUAL DATA TO BE FEED TO SERVO
/*
Holds direction to move
+1 means scanner should move right
-1 means scanner should move left
*/
int Direction = 1;
double Distance;
byte Temp;
/* Scan infinitely */
while (true)
{
/*
Take multiple sample of the distance in current sight
Higher the sampling, accurate the result but will cause slower scanning.
*/
Distance = 0; // Reset Distance
for (int i = 0; i < NumberOfSample; i++)
{
Distance += DistanceSensor.GetDistance(); // Add distance
await Task.Delay(1); // Wait for a ms
}
Distance /= NumberOfSample; // Calculate average
/*
Send current angle to Gateway to set servo
This project was developed to map object distances between -70 to +70 degree
Thus servo will move between: 00 - 70 - 140 (Actual Angle)
-70 - 0 - +70 (Assumed Angle)
*/
Temp = (byte)((140 - CurrentRotation > 0) ? 140 - CurrentRotation : 0);
/* Send angle to the gateway in a byte */
/* A dummy byte will be returned from the function */
Temp = Library.Communication.ArduinoGateway.MoveServo(Temp).Result[0];
/*
If right direction is fully mapped, change scanning direction to left.
Or else if left is fully scanned, change direction to right.
*/
if (CurrentRotation > 140)
{
Direction = -1;
CurrentRotation = (byte)(CurrentRotation + Direction);
}
else if (CurrentRotation == 0)
{
Direction = 1;
CurrentRotation = (byte)(CurrentRotation + Direction);
}
/* Update current rotation with direction */
CurrentRotation = (byte)(CurrentRotation + Direction);
/*
Update UI
Dispatcher will helps to update UI components acquired by Main thread. (Because we're on another thread)
*/
await Windows.ApplicationModel.Core.CoreApplication.MainView.CoreWindow.Dispatcher.RunAsync(CoreDispatcherPriority.Normal,
() =>
{
/* Convert current rotation from 0 to 140 into -70 to +70 */
ScannerLine.Angle = CurrentRotation - 70;
/* If all available angles has been scanned for a direction, clean LiDAR map */
if (ScannerLine.Angle == -70 || ScannerLine.Angle == 70)
{
Grid_Mapper.Children.Clear();
}
/* Do not plot object > 500 cm */
if (Distance > 500)
{
Distance = 0;
}
/* LiDAR map developed for this project is only for up-to 300 cm. Thus eliminate higher distances. */
if (Distance > 299)
{
Distance = 299;
}
/* Plot distance into LiDAR map */
Grid_Mapper.Children.Add(DistanceMapper.GetMapper(ScannerLine.Angle, (int)Distance));
});
/* Hold for 5ms to take breath entire system */
await Task.Delay(5);
}
}
