/// <summary>
/// Main constructor
/// </summary>
/// <param name="leftForwardPwm">PWM port responsible for left motor moving forward</param>
/// <param name="leftBackPwm">PWM port responsible for left motor moving backward</param>
/// <param name="rightForwardPwm">PWM port responsible for right motor moving forward</param>
/// <param name="rightBackPwm">PWM port responsible for right motor moving backward</param>
/// <param name="gearPwm">PWM port responsible for controling gear changing servo</param>
public MotorController(IPwmPort rightForwardPwm,
IPwmPort rightBackPwm,
IPwmPort leftForwardPwm,
IPwmPort leftBackPwm,
IPwmPort gearPwm,
IDigitalInputPort leftCounterPort,
IDigitalInputPort righCounterPort,
BNO055 posSens,
CameraGimbal gimb,
Action clQueue)
{
quarterCircle = fullCircle / 4;
halfCircle = fullCircle / 2;
positionSensor = posSens;
gimbal = gimb;
clearQueue = clQueue;
circumference = teethCount * chainPitch / magnetsCount;
leftMotor = new Motor(leftForwardPwm, leftBackPwm);
rightMotor = new Motor(rightForwardPwm, rightBackPwm);
gearbox = new GearBox(gearPwm);
rightCounter = new HallEffectCounter(righCounterPort);
leftCounter = new HallEffectCounter(leftCounterPort);
rightCounter.Name = Side.Right;
leftCounter.Name = Side.Left;
#if DEBUG
rightCounter.RegisterForCount(CountChanged);
leftCounter.RegisterForCount(CountChanged);
#endif
rightCounter.RegisterForLimitReached(MoveForwardStop);
leftCounter.RegisterForLimitReached(MoveForwardStop);
positionSensor.RegisterForHeadingChanged(HeadingChanged);
moveForwardResetEventLeft = new AutoResetEvent(false);
moveForwardResetEventRight = new AutoResetEvent(false);
turnResetEvent = new AutoResetEvent(false);
turnTokenSource = new CancellationTokenSource();
turnPid = new IdealPidController();
turnPid.ProportionalComponent = 1.8f;
turnPid.IntegralComponent = 0.05f;
turnPid.DerivativeComponent = 0.01f;
turnPid.OutputMax = 50;
turnPid.OutputMin = -50;
stabilizePid = new IdealPidController();
stabilizePid.ProportionalComponent = 1.8f;
stabilizePid.IntegralComponent = 0.05f;
stabilizePid.DerivativeComponent = 0.01f;
stabilizePid.OutputMax = stabilizeTurnRate;
stabilizePid.OutputMin = -stabilizeTurnRate;
}
/// <summary>
/// Initializes all hardware and software classes
/// </summary>
void Initialize()
{
Console.WriteLine("Initialize hardware...");
onboardLed = new RgbPwmLed(device: Device,
redPwmPin: Device.Pins.OnboardLedRed,
greenPwmPin: Device.Pins.OnboardLedGreen,
bluePwmPin: Device.Pins.OnboardLedBlue,
3.3f, 3.3f, 3.3f,
Meadow.Peripherals.Leds.IRgbLed.CommonType.CommonAnode);
#if DEBUG
Console.WriteLine("Initializing bus");
#endif
bus = Device.CreateI2cBus(400000);
#if DEBUG
Console.WriteLine("Initializing display 1");
#endif
displaySmall = new DisplayLCD(bus, 0x27, 2, 16);
displaySmall.Write("I'm alive!");
#if DEBUG
Console.WriteLine("Initializing display 2");
#endif
displayBig = new DisplayLCD(bus, 0x23, 4, 20);
displayBig.Write("I'm alive!");
#if DEBUG
Console.WriteLine("Initializing hc12");
#endif
displaySmall.Write("Initializing radio");
serialCom = new HC12Communication(Device.CreateSerialMessagePort(Device.SerialPortNames.Com4,
suffixDelimiter: new byte[] { 10 },
preserveDelimiter: true, 115200, 8, Parity.None,
StopBits.One));
com = new CommunicationWrapper(serialCom);
#if DEBUG
Console.WriteLine("Initializing WiFi");
#endif
displaySmall.Write("Initializing WiFi");
ipCom = new WifiUdpCommunication(Device.WiFiAdapter, new Action <string>[] { com.SendMessage, displaySmall.Write });
//Trying to connect at startup to speed process up, but router might be still booting so in that case will try again when requested
Task.Run(() =>
{
try
{
ConnectToWiFi("");
}
catch (Exception e)
{
com.SendMessage(ReturnCommandList.exception + e.Message + ReturnCommandList.exceptionTrace + e.StackTrace);
#if DEBUG
Console.WriteLine(e.Message + "/n/n" + e.StackTrace);
#endif
}
});
#if DEBUG
Console.WriteLine("Initializing RTC");
#endif
displaySmall.Write("Initializing RTC");
clock = new Rtc(bus, com.SendMessage, SetClock);
clock.SetClockFromRtc();
#if DEBUG
Console.WriteLine("Initializing watchdog");
#endif
displaySmall.Write("Initializing watchdog");
watchdog = new Watchdog(Watchdog.Type.SerialPort);
//serialCom.RegisterWatchdog(watchdog.MessageReceived);
//ipCom.RegisterWatchdog(watchdog.MessageReceived);
watchdog.RegisterSender(com.SendMessage);
watchdog.RegisterBlockAction(EmergencyDisable);
watchdog.RegisterSwitchToSerial(SwitchToSerial);
dict = new MethodsDictionary();
queue = new MethodsQueue(com, dict);
ipCom.SubscribeToMessages(queue.MessageReceived);
ipCom.SubscribeToMessages(watchdog.MessageReceived);
serialCom.SubscribeToMessages(queue.MessageReceived);
serialCom.SubscribeToMessages(watchdog.MessageReceived);
#if DEBUG
Console.WriteLine("Initializing pca @1600Hz");
#endif
displaySmall.Write("Initializing PWM @1600Hz");
pwm1600 = new Pca9685(bus, 0x61, 1600);
pwm1600.Initialize();
#if DEBUG
Console.WriteLine("Initializing pca @50Hz");
#endif
displaySmall.Write("Initializing PWM @50Hz");
pwm50 = new Pca9685(bus, 0x60, 50);
pwm50.Initialize();
#if DEBUG
Console.WriteLine("Initializing expander 1");
#endif
displaySmall.Write("Initializing expander 1");
expander1 = new Mcp23x08(bus, 0x20, Device.CreateDigitalInputPort(Device.Pins.D02, InterruptMode.EdgeBoth));
#if DEBUG
Console.WriteLine("Initializing expander 2");
#endif
displaySmall.Write("Initializing expander 2");
expander2 = new Mcp23x08(bus, 0x21, Device.CreateDigitalInputPort(Device.Pins.D06, InterruptMode.EdgeBoth));
#if DEBUG
Console.WriteLine("Initializing fans");
#endif
displaySmall.Write("Initializing fans");
LEDsFans = new Fan(expander2.CreateDigitalOutputPort(expander2.Pins.GP4), "LEDs' fans");
motorsFans = new Fan(expander2.CreateDigitalOutputPort(expander2.Pins.GP5), "Motors' fans");
inasFan = new Fan(expander2.CreateDigitalOutputPort(expander2.Pins.GP6), "INAs fan");
#if DEBUG
Console.WriteLine("Initializing buzzer");
#endif
displaySmall.Write("Initializing buzzer");
buzzer = new Buzzer(expander2.CreateDigitalOutputPort(expander2.Pins.GP3, false, OutputType.OpenDrain));
watchdog.RegisterBuzzer(buzzer.Buzz);
#pragma warning disable CS4014 // To wywołanie nie jest oczekiwane, dlatego wykonywanie bieżącej metody będzie kontynuowane do czasu ukończenia wywołania
buzzer.Buzz();
#pragma warning restore CS4014 // To wywołanie nie jest oczekiwane, dlatego wykonywanie bieżącej metody będzie kontynuowane do czasu ukończenia wywołania
#if DEBUG
Console.WriteLine("Initializing power sensors");
#endif
displaySmall.Write("Initializing power sensors");
INA219.INA219Configuration config = new INA219.INA219Configuration(INA219.BusVoltageRangeSettings.range32v,
INA219.PGASettings.Gain320mV,
INA219.ADCsettings.Samples128,
INA219.ADCsettings.Samples128,
INA219.ModeSettings.ShuntBusContinuous);
ina219s = new INA219Array(new INA219[]
{
new INA219(3.2f, 0.1f, 1, bus, 0x41, config, "C"),
new INA219(10f, 0.01f, 1, bus, 0x44, config, "L"),
new INA219(10f, 0.01f, 1, bus, 0x45, config, "R")
}, buzzer, displayBig, EmergencyDisable);
ina219s.RegisterSender(com.SendMessage);
ina219s.RegisterFan(inasFan.SetState);
ina219s.RegisterFan(motorsFans.SetState);
ina219s.StartMonitoringVoltage();
//com = new ComCommunication(Device.CreateSerialMessagePort(Device.SerialPortNames.Com4, suffixDelimiter: new byte[] { 10 }, preserveDelimiter: true, 921600, 8, Parity.None, StopBits.One));
#if DEBUG
Console.WriteLine("Initializing temperature sensor");
#endif
displaySmall.Write("Initializing temperature sensor");
tempPresSensor = new TempPressureSensor(bus);
tempPresSensor.RegisterSender(com.SendMessage);
#if DEBUG
Console.WriteLine("Initializing position sensor");
#endif
displaySmall.Write("Initializing position sensor");
positionSensor = new BNO055(bus, 0x28);
positionSensor.RegisterSender(com.SendMessage);
positionSensor.RegisterScreen(displaySmall.Write);
#if DEBUG
Console.WriteLine("Initializing motor controller");
#endif
displaySmall.Write("Initializing motor controller");
motor = new MotorController(pwm1600.CreatePwmPort(3, 0),
pwm1600.CreatePwmPort(2, 0),
pwm1600.CreatePwmPort(1, 0),
pwm1600.CreatePwmPort(0, 0),
pwm50.CreatePwmPort(0),
Device.CreateDigitalInputPort(Device.Pins.D03, InterruptMode.EdgeRising, ResistorMode.InternalPullDown, 20, 20),
Device.CreateDigitalInputPort(Device.Pins.D04, InterruptMode.EdgeRising, ResistorMode.InternalPullDown, 20, 20),
positionSensor, gimbal, queue.ClearQueue);
#if DEBUG
Console.WriteLine("Initializing gimbal");
#endif
displaySmall.Write("Initializing camera gimbal");
gimbal = new CameraGimbal(pwm50.CreatePwmPort(2), pwm50.CreatePwmPort(1), positionSensor);
#if DEBUG
Console.WriteLine("Initializing proximity sensors");
#endif
displaySmall.Write("Initializing proximity sensors");
proxSensors = new ProximitySensorsArray(new ProximitySensor[]
{
new ProximitySensor(expander1.CreateDigitalInputPort(expander1.Pins.GP0, InterruptMode.EdgeRising, ResistorMode.InternalPullUp, 500, 500), Direction.Forward, StopBehavior.Stop, "Front, right", queue, motor),
new ProximitySensor(expander1.CreateDigitalInputPort(expander1.Pins.GP1, InterruptMode.EdgeRising, ResistorMode.InternalPullUp, 500, 500), Direction.Forward, StopBehavior.Stop, "Front, left", queue, motor),
new ProximitySensor(expander1.CreateDigitalInputPort(expander1.Pins.GP2, InterruptMode.EdgeRising, ResistorMode.InternalPullUp, 500, 500), Direction.Forward, StopBehavior.Stop, "Front, center", queue, motor),
new ProximitySensor(expander1.CreateDigitalInputPort(expander1.Pins.GP3, InterruptMode.EdgeRising, ResistorMode.InternalPullUp, 500, 500), Direction.Backward, StopBehavior.Stop, "Back, center", queue, motor)
});
proxSensors.Register(com.SendMessage);
//proxSensors.Register(displaySmall.Write);
#if DEBUG
Console.WriteLine("Initializing lamps");
#endif
displaySmall.Write("Initializing lamps");
narrowLed = new LedLamp(pwm1600.CreatePwmPort(4, 0), LEDsFans, "Front, narrow");
wideLed = new LedLamp(pwm1600.CreatePwmPort(5, 0), LEDsFans, "Front, wide");
#if DEBUG
Console.WriteLine("Initializing cameras");
#endif
displaySmall.Write("Initializing cameras");
camera = new Camera(expander2.CreateDigitalOutputPort(expander2.Pins.GP7));
camera.SetCamera(true);
#if DEBUG
Console.WriteLine("Finishing initialization");
#endif
displaySmall.Write("Finishing initialization");
RegisterMethods();
//watchdog.StartCheckingMessages();
#if DEBUG
Console.WriteLine("All hardware initialized!");
#endif
displaySmall.Clear();
displaySmall.Write("Ready!");
com.SendMessage("Ready!");
#pragma warning disable CS4014 // To wywołanie nie jest oczekiwane, dlatego wykonywanie bieżącej metody będzie kontynuowane do czasu ukończenia wywołania
buzzer.BuzzPulse(100, 100, 3);
#pragma warning restore CS4014 // To wywołanie nie jest oczekiwane, dlatego wykonywanie bieżącej metody będzie kontynuowane do czasu ukończenia wywołania
}
