public void Reset()
{
_hefMotor.SetSpeed(SPEED_UP);
while (_limitSensor.ReadAsString() == "Off")
{
Thread.Sleep(100);
}
_hefMotor.Brake();
}
private void TestTouch()
{
EV3TouchSensor touch = new EV3TouchSensor(brick, BrickPortSensor.PORT_S1);
//NXTTouchSensor touch = new NXTTouchSensor(brick, BrickPortSensor.PORT_S2);
int count = 0;
while (count < 100)
{
Debug.WriteLine(string.Format("NXT Touch, IsPRessed: {0}, ReadAsString: {1}, Selected mode: {2}",
touch.IsPressed(), touch.ReadAsString(), touch.SelectedMode()));
Task.Delay(300).Wait();;
}
}
public static void Main(string[] args)
{
ManualResetEvent terminateProgram = new ManualResetEvent(false);
var touchSensor = new EV3TouchSensor(SensorPort.In1);
//svar touchSensor = new NXTTouchSensor(SensorPort.In1);
ButtonEvents buts = new ButtonEvents();
LcdConsole.WriteLine("Use touch on port1");
LcdConsole.WriteLine("Up read");
LcdConsole.WriteLine("Down read raw");
LcdConsole.WriteLine("Esc. terminate");
buts.EscapePressed += () => {
terminateProgram.Set();
};
buts.UpPressed += () => {
LcdConsole.WriteLine("Sensor value:" + touchSensor.ReadAsString());
};
buts.DownPressed += () => {
LcdConsole.WriteLine("Raw sensor value: " + touchSensor.ReadRaw());
};
terminateProgram.WaitOne();
}
private static void TestMultipleSensorsTouchCSSoud()
{
NXTTouchSensor touch = new NXTTouchSensor(_brick, SensorPort.Port2);
EV3TouchSensor ev3Touch = new EV3TouchSensor(_brick, SensorPort.Port1, 20);
NXTSoundSensor sound = new NXTSoundSensor(_brick, SensorPort.Port4);
NXTColorSensor nxtlight = new NXTColorSensor(_brick, SensorPort.Port3);
RGBColor rgb;
while (!((touch.IsPressed()) && ev3Touch.IsPressed()))
{
Console.WriteLine($"NXT Touch, Raw: {touch.ReadRaw()}, ReadASString: {touch.ReadAsString()}, IsPressed: {touch.IsPressed()}, NumberNodes: {touch.NumberOfModes()}, SensorName: {touch.GetSensorName()}");
Console.WriteLine($"EV3 Touch, Raw: {ev3Touch.ReadRaw()}, ReadASString: {ev3Touch.ReadAsString()}, IsPressed: {ev3Touch.IsPressed()}, NumberNodes: {ev3Touch.NumberOfModes()}, SensorName: {ev3Touch.GetSensorName()}");
Console.WriteLine($"NXT Sound, Raw: {sound.ReadRaw()}, ReadASString: {sound.ReadAsString()}, NumberNodes: {sound.NumberOfModes()}, SensorName: {sound.GetSensorName()}");
Console.WriteLine($"NXT Color Sensor, Raw: {nxtlight.ReadRaw()}, ReadASString: {nxtlight.ReadAsString()}, NumberNodes: {nxtlight.NumberOfModes()}, SensorName: {nxtlight.GetSensorName()}");
rgb = nxtlight.ReadRGBColor();
Console.WriteLine($"Color: {nxtlight.ReadColor()}, Red: {rgb.Red}, Green: {rgb.Green}, Blue: {rgb.Blue}");
Thread.Sleep(300);
}
}
private static void TestTouch()
{
Console.WriteLine("Running 100 reads on EV3 touch sensor on port 1.");
EV3TouchSensor touch = new EV3TouchSensor(_brick, SensorPort.Port1);
// Alternative to test NXT touch sensor
// NXTTouchSensor touch = new NXTTouchSensor(brick, BrickPortSensor.PORT_S2);
int count = 0;
while (count < 100)
{
Console.WriteLine($"NXT Touch, IsPRessed: {touch.IsPressed()}, ReadAsString: {touch.ReadAsString()}, Selected mode: {touch.SelectedMode()}");
Task.Delay(300).Wait();
}
}
private async Task TestMultipleSensorsTouchCSSoud()
{
NXTTouchSensor touch = new NXTTouchSensor(brick, BrickPortSensor.PORT_S2);
EV3TouchSensor ev3Touch = new EV3TouchSensor(brick, BrickPortSensor.PORT_S1, 20);
NXTSoundSensor sound = new NXTSoundSensor(brick, BrickPortSensor.PORT_S4);
NXTColorSensor nxtlight = new NXTColorSensor(brick, BrickPortSensor.PORT_S3);
RGBColor rgb;
bool bwait = true;
while (bwait)
{
Debug.WriteLine(string.Format("NXT Touch, Raw: {0}, ReadASString: {1}, IsPressed: {2}, NumberNodes: {3}, SensorName: {4}", touch.ReadRaw(), touch.ReadAsString(), touch.IsPressed(), touch.NumberOfModes(), touch.GetSensorName()));
Debug.WriteLine(string.Format("EV3 Touch, Raw: {0}, ReadASString: {1}, IsPressed: {2}, NumberNodes: {3}, SensorName: {4}", ev3Touch.ReadRaw(), ev3Touch.ReadAsString(), ev3Touch.IsPressed(), ev3Touch.NumberOfModes(), ev3Touch.GetSensorName()));
Debug.WriteLine(string.Format("NXT Sound, Raw: {0}, ReadASString: {1}, NumberNodes: {2}, SensorName: {3}", sound.ReadRaw(), sound.ReadAsString(), sound.NumberOfModes(), sound.GetSensorName()));
Debug.WriteLine(string.Format("NXT Color Sensor, Raw: {0}, ReadASString: {1}, NumberNodes: {2}, SensorName: {3}",
nxtlight.ReadRaw(), nxtlight.ReadAsString(), nxtlight.NumberOfModes(), nxtlight.GetSensorName()));
rgb = nxtlight.ReadRGBColor();
Debug.WriteLine(string.Format("Color: {0}, Red: {1}, Green: {2}, Blue: {3}",
nxtlight.ReadColor(), rgb.Red, rgb.Green, rgb.Blue));
// Debug.WriteLine(string.Format("raw {0}", nxtlight.ReadTest()));
await Task.Delay(300);
if ((touch.IsPressed()) && ev3Touch.IsPressed())
{
bwait = false;
}
}
}