public static void Main(string[] args) { ManualResetEvent terminateProgram = new ManualResetEvent(false); UltraSonicMode[] modes = { UltraSonicMode.Centimeter, UltraSonicMode.Inch, UltraSonicMode.Listen }; int modeIdx = 0; ButtonEvents buts = new ButtonEvents(); var sensor = new EV3UltrasonicSensor(SensorPort.In1, modes[modeIdx]); LcdConsole.WriteLine("Use sonic on port1"); LcdConsole.WriteLine("Up change mode"); LcdConsole.WriteLine("Enter read"); LcdConsole.WriteLine("Esc. terminate"); buts.EscapePressed += () => { terminateProgram.Set(); }; buts.UpPressed += () => { modeIdx = (modeIdx + 1) % modes.Length; sensor.Mode = modes[modeIdx]; LcdConsole.WriteLine("Mode: " + modes[modeIdx]); }; buts.EnterPressed += () => { LcdConsole.WriteLine(sensor.ReadAsString()); }; terminateProgram.WaitOne(); }
/// <summary> /// this method initializes all needed motors and sensors /// to control the robot accordingly /// </summary> public static void InitRobot() { AddEmergencyStopOption(); LeftTrack = new Motor(Constants.LEFT_TRACK_PORT); RightTrack = new Motor(Constants.RIGHT_TRACK_PORT); GrapplerRiserMotor = new Motor(Constants.GRAPPLER_RISER_PORT); GrapplerWheelMotor = new Motor(Constants.GRAPPLER_WHEEL_PORT); ColorSensor = new EV3ColorSensor(Constants.EV3_COLOR_SENSOR_PORT); IRSensor = new EV3IRSensor(Constants.IR_SENSOR_PORT); UltraSonicSensor = new EV3UltrasonicSensor(Constants.ULTRASONIC_SENSOR_PORT); ColorSensor.Mode = ColorMode.RGB; UltraSonicSensor.Mode = UltraSonicMode.Centimeter; GrapplerPosition = GrapplerPosition.Down; FoodState = FoodState.Searching; IsInitialized = true; WaitToFullyBootProgram(); CalibrizeGrappler(); PrintEmptyLine(); WaitForStartButtonPress(); TeamMode = TeamMode.WinnieTeam; //InitColour(); }
public static void MainThread() { // All in one thread Init(); SetColor(ConsoleColor.Red); LogFileWriter.WriteLine(""); Log("New log file started."); try { TRobot.Writeln(PathForExe); if (IsRobot) { Emergency.Start(); FinalizePRogram(); LogFileWriter = File.AppendText(LogFile); BIOS_Beep(); // MonoBrick.EV3.Mailbox mail = new MonoBrick.EV3.Mailbox(); // Thread.Sleep(1000000); /*string[] arr = MonoBrick.Bluetooth<BrickCommand, BrickReply>.GetPortNames(); * for (int i = 0; i < arr.Length; i++) * { * Writeln(arr[i]); * } * Thread.Sleep(100000);*/ Motor TestMotor = new Motor(MotorPort.OutD); Writeln(TestMotor.GetTachoCount().ToString()); TestMotor.SetSpeed(100); Thread.Sleep(1000); TestMotor.Brake(); Writeln(TestMotor.GetTachoCount().ToString()); // Thread.Sleep(100000); // System.IO.Ports.SerialPort serialPort = new SerialPort(); string[] ARR = SerialPort.GetPortNames(); for (int i = 0; i < ARR.Length; i++) { Writeln($"Serial {ARR[i]}"); } Writeln("Hello from Robot"); long A = 0; TDirectionizer directionizer = new TDirectionizer(SensorPort.In2, SensorPort.In3); Motor Left = new Motor(MotorPort.OutC); Motor Right = new Motor(MotorPort.OutB); /*while (true) * { * int[] res = directionizer.Directionize(); * LcdConsole.Clear(); * TRobot.Writeln($"Motorl: {res[0]}; Motorr: {res[1]};"); * Left.SetPower((sbyte)res[0]); * Right.SetPower((sbyte)res[1]); * Thread.Sleep(50); * }*/ TMotivator vec = new TMotivator(MotorPort.OutC, MotorPort.OutB); EV3UltrasonicSensor ultrasonicSensor = new EV3UltrasonicSensor(SensorPort.In1, UltraSonicMode.Centimeter); Motor Test = new Motor(MotorPort.OutB); Writeln($"Prev tacho: {Test.GetTachoCount()}"); vec.MoveForward(50, 360); Writeln($"Tacho: {Test.GetTachoCount()}"); Thread.Sleep(100000); /*while (true) * { * A++; * vec.MoveForward_mm(50, 300); * vec.TurnLeft(20, 180); * vec.MoveForward_mm(50, 300); * vec.TurnRight(20, 180); * if (A >= 4) * break; * }*/ } TField Fld = Field_Generated_Class.Generate(); TDijkstra djk = new TDijkstra(new TPoint(1, 1), new TPoint(2, 0), Fld); TRobot.Writeln(djk.Search_Way().ToString() + $" steps {djk.CountSteps}"); djk.Way.Reverse(); for (int i = 0; i < djk.Way.Count; i++) { TRobot.Writeln($"[{djk.Way[i].Position.X}, {djk.Way[i].Position.Y}]"); } } catch (Exception E) { string Str = ($"[EXCEPTION][{E.GetType().Name}]: " + E.Message); File.WriteAllLines(PathForExe + "last_exception.txt", new string[] { Str }); TRobot.Writeln(Str); } TRobot.Writeln("Press any key to continue..."); TRobot.Read(); if (IsRobot) { for (MotorPort i = MotorPort.OutA; i <= MotorPort.OutD; i++) { Motor mot = new Motor(i); mot.Brake(); mot.SetPower(0); } } FinalizePRogram(); }
public static void Main(string[] args) { //AutoFin->false ManualResetEvent terminateProgram = new ManualResetEvent(false); //Motor_Rady LcdConsole.WriteLine("***Motor_Rady***"); Motor motorA = new Motor(MotorPort.OutA); Motor motorD = new Motor(MotorPort.OutD); motorA.Off(); motorD.Off(); motorA.ResetTacho(); motorD.ResetTacho(); //Vehicle_Rady Vehicle vehicle = new Vehicle(MotorPort.OutA, MotorPort.OutD); WaitHandle waitHandle; vehicle.ReverseLeft = false; vehicle.ReverseRight = false; int b = 0; //Sensor_Rady LcdConsole.WriteLine("***Sensor_Rady***"); //Touch_Rady var touchSensor1 = new EV3TouchSensor(SensorPort.In1); var touchSensor2 = new EV3TouchSensor(SensorPort.In4); //UltraSonic_Rady var UltraSonicSensor = new EV3UltrasonicSensor(SensorPort.In3, UltraSonicMode.Centimeter); //Color_Rady EventWaitHandle stopped = new ManualResetEvent(false); ColorMode[] modes = { ColorMode.Color, ColorMode.Reflection, ColorMode.Ambient, ColorMode.Blue }; int modeIdx = 0; var sensor = new EV3ColorSensor(SensorPort.In2, ColorMode.Reflection); //Conection LcdConsole.WriteLine("***Conect_Rady***"); //Http Encoding enc = Encoding.UTF8; string input = "Detect"; string url = "http://nursinghomeexplorer.azurewebsites.net/index.php"; string param = ""; // Hashtable ht = new Hashtable(); ht["langpair"] = "#ja"; ht["hl"] = "en"; ht["text"] = HttpUtility.UrlEncode(input, enc); foreach (string k in ht.Keys) { param += String.Format("{0}={1}&", k, ht[k]); } byte[] data = Encoding.ASCII.GetBytes(param); // HttpWebRequest req = (HttpWebRequest)WebRequest.Create(url); req.Method = "POST"; req.ContentType = "application/x-www-form-urlencoded"; req.ContentLength = data.Length; LcdConsole.WriteLine("***Conected!***"); //timer set System.Diagnostics.Stopwatch sw = new System.Diagnostics.Stopwatch(); long a = 0; //buts ButtonEvents buts = new ButtonEvents(); LcdConsole.WriteLine("Up read BrightLine"); LcdConsole.WriteLine("Down read Floor"); //LcdConsole.WriteLine ("Left Exit program"); //LcdConsole.WriteLine ("Right Exit program"); LcdConsole.WriteLine("Enter change color mode"); LcdConsole.WriteLine("Esc. StartRun"); buts.UpPressed += () => { LcdConsole.WriteLine("Sensor value: " + sensor.ReadAsString()); }; buts.DownPressed += () => { LcdConsole.WriteLine("Raw sensor value: " + sensor.ReadRaw()); }; buts.EnterPressed += () => { modeIdx = (modeIdx + 1) % modes.Length; sensor.Mode = modes[modeIdx]; LcdConsole.WriteLine("Sensor mode is set to: " + modes[modeIdx]); }; //Left_Finish buts.LeftPressed += () => { terminateProgram.Set(); }; //Escape_StartRun buts.EscapePressed += () => { LcdConsole.WriteLine("***StartRun***"); stopped.Set(); //loop_run on the line while (true) { //touchsensor2 Pressed if (touchSensor2.IsPressed() == true) { //motors stop motorA.Brake(); motorD.Brake(); LcdConsole.WriteLine("***Stop***"); //timer start sw.Start(); //after 5sec Thread.Sleep(5000); a = sw.ElapsedMilliseconds; LcdConsole.WriteLine("***Stop_5sec***"); if (a >= 5000) { //timer stop a = 0; sw.Stop(); sw.Reset(); if (touchSensor2.IsPressed() == true) { LcdConsole.WriteLine("***Stop_ISPressed2***"); // Stream reqStream = req.GetRequestStream(); LcdConsole.WriteLine("***Stop_GetReqStream***"); reqStream.Write(data, 0, data.Length); LcdConsole.WriteLine("***Stop_write***"); reqStream.Close(); LcdConsole.WriteLine("***Stop_reqStream.close***"); break; } if (touchSensor1.IsPressed() == true) { // Stream reqStream = req.GetRequestStream(); reqStream.Write(data, 0, data.Length); reqStream.Close(); break; } } else { continue; } } //touchsensor1 pressed if (touchSensor1.IsPressed() == true) { motorA.Brake(); motorD.Brake(); LcdConsole.WriteLine("***Stop***"); //timer start sw.Start(); //after 5sec Thread.Sleep(5000); a = sw.ElapsedMilliseconds; if (a >= 5000) { //timer stop a = 0; sw.Stop(); sw.Reset(); if (touchSensor1.IsPressed() == true) { // Stream reqStream = req.GetRequestStream(); reqStream.Write(data, 0, data.Length); reqStream.Close(); break; } if (touchSensor2.IsPressed() == true) { // Stream reqStream = req.GetRequestStream(); reqStream.Write(data, 0, data.Length); reqStream.Close(); break; } } else { continue; } } //Ultrasonic on if (UltraSonicSensor.Read() <= 30) { motorA.Brake(); motorD.Brake(); LcdConsole.WriteLine("***Stop***"); //timer start sw.Start(); //after 5sec Thread.Sleep(5000); a = sw.ElapsedMilliseconds; if (a >= 5000) { //timer stop a = 0; sw.Stop(); sw.Reset(); if (UltraSonicSensor.Read() <= 30) { // Stream reqStream = req.GetRequestStream(); reqStream.Write(data, 0, data.Length); reqStream.Close(); break; } } else { continue; } } b = sensor.Read(); if (b < 15) { vehicle.TurnRightForward(10, 100); } if (15 <= b && b < 60) { vehicle.TurnLeftForward(10, 60); } if (b >= 60) { waitHandle = vehicle.Forward(10, 0, true); } } }; terminateProgram.WaitOne(); buts.LeftPressed += () => { terminateProgram.Set(); }; }