static void Main(string[] args)
{
int NUM_AUTD_X = 3;
int NUM_AUTD_Y = 3;
float W = 192f;
float H = 151.4f;
float xc = W * NUM_AUTD_X / 2f;
float yc = H * NUM_AUTD_Y / 2f;
float Z = 200;
var compress = true;
var cond = new Conditions()
{
SampleRateHz = 10_000_000,
SampleLen = 10_000,
Temp = 22.8f,
Humidity = 13f,
Amplifer = 10,
X = 0,
Y = 0,
Z = Z
};
using var robo = new RobotController();
if (!robo.Connect("172.16.99.57"))
{
Console.WriteLine("Failed to connect to robot.");
return;
}
robo.MoveTo(0, 0, Z);
using var pico = new PicoCnt();
pico.SetChannel(0, 50, 1, null);
pico.SetChannel(1, 5000, 10, 1000);
pico.SetCondition(cond);
using var autd = new AUTD3Cnt();
for (int y = 0; y < NUM_AUTD_Y; y++)
{
for (int x = 0; x < NUM_AUTD_X; x++)
{
autd.AddDevice(x * W, y * H, 0);
}
}
var ifname = AUTD3Cnt.GetIfname();
autd.Open(ifname);
autd.Clear();
autd.Calibrate();
autd.StaticMod(0xFF);
Scan(autd, 10, pico, robo, cond, NUM_AUTD_X, NUM_AUTD_Y, Z, compress);
Console.WriteLine("Finish.");
autd.Stop();
robo.Finish();
}
}
static void Main(string[] args)
{
using var robo = new RobotController();
if (!robo.Connect("172.16.99.57"))
{
Console.WriteLine("Failed to connect to robot.");
return;
}
robo.MoveTo(0, 0, 200);
using var pico = new PicoCnt();
using var autd = new AUTD3Cnt();
autd.AddDevice(0, 0, 0);
var ifname = AUTD3Cnt.GetIfname();
autd.Open(ifname);
autd.Clear();
autd.Calibrate();
autd.StaticMod(0xFF);
var compress = false;
var cond = new Conditions()
{
SampleRateHz = 2_000_000,
SampleLen = 2_000,
Temp = 23.0f,
Humidity = 19f,
Amplifer = 10,
X = 0,
Y = 0,
Z = 200
};
pico.SetChannel(0, 500, 1, null);
pico.SetCondition(cond);
Console.WriteLine("Connect Ch. A to microphone. conditions are ...");
cond.Check();
Scan(autd, pico, cond, "amp", false, (autd, i) => autd.TransTest(0, (byte)i, 0), compress);
cond.SampleRateHz = 10_000_000;
cond.SampleLen = 20000;
pico.SetChannel(0, 50000, 10, null);
pico.SetCondition(cond);
Console.WriteLine("Connect Ch. A to microphone. conditions are ...");
cond.Check();
Scan(autd, pico, cond, "input", false, (autd, i) => autd.TransTest(0, (byte)i, 0), compress);
pico.SetChannel(0, 500, 1, null);
pico.SetChannel(1, 5000, 10, 1000);
pico.SetCondition(cond);
Console.WriteLine("Connect Ch. A to microphone and Ch. B to 40kHz reference signal. conditions are ...");
cond.Check();
Scan(autd, pico, cond, "phase", true, (autd, i) => autd.TransTest(0, 0xFF, (byte)i), compress);
Console.WriteLine("Finish.");
robo.Finish();
}
}