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 Main()
{
//
// 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);
}
}