static async Task Connect()
{
mcu = new Microcontroller(new SerialTransport(PORT));
mcu.Data += Data;
mcu.Protocol += Protocol;
await mcu.Connect();
}
public Servo(IMicrocontroller mcu, int pin, int minMilliseconds, int maxMilliseconds)
{
this.mcu = mcu;
this.pin = pin;
this.minMilliseconds = minMilliseconds;
this.maxMilliseconds = maxMilliseconds;
MCU.Initialize(mcu);
}
public Motor(IMicrocontroller mcu, int pinA, int pinB, int pwmPin, string name, double smoothing = double.MaxValue)
{
this.mcu = mcu;
this.pinA = pinA;
this.pinB = pinB;
this.pwmPin = pwmPin;
this.name = name;
this.smoothing = smoothing;
}
public Arm(IMicrocontroller mcu)
{
grip = new Servo(mcu, 7, 700, 2000);
hand = new Servo(mcu, 6, 500, 2500);
wrist = new Servo(mcu, 8, 500, 2400);
elbow = new Servo(mcu, 5, 700, 2100);
shoulder = new Servo(mcu, 9, 800, 2300);
mount = new Servo(mcu, 10, 1000, 2000);
}
public Blinker(int pin, IMicrocontroller mcu)
{
this.pin = pin;
this.mcu = mcu;
mcu.Instruction("delay", 100);
mcu.BindAction("delay", Delay);
mcu.DefineAction(Blink);
mcu.DefineAction(S);
mcu.DefineAction(O);
}
public CanNodeSession CreateCanNodeSession(Type microcontrollerType)
{
var canController = new CanController();
IMicrocontroller microController = (IMicrocontroller)Activator.CreateInstance(microcontrollerType);
microController.CanController = canController;
var transceiver = new CanTransceiver(canController);
canController.SetControllerProperties(transceiver, microController, new FrameBuilder());
return(new CanNodeSession(new CanNode(microController, transceiver)));
}
static async Task Demo()
{
Console.WriteLine("Connecting to MCU ({0})...", PORT);
mcu = new Microcontroller(new SerialTransport(PORT));
await mcu.Connect();
Console.WriteLine("Blinking SOS...");
const int LED_PIN = 9;
var blinker = new Blinker(LED_PIN, mcu);
await blinker.InitAsync();
await blinker.Message();
Console.WriteLine("Disconnecting from MCU...");
await mcu.Disconnect();
}
static async Task ControlServos()
{
Console.WriteLine("Connecting to MCU ({0})...", PORT);
mcu = new Microcontroller(new SerialTransport(PORT));
await mcu.Connect();
Console.WriteLine("Attaching servos...");
var pan = new Servo(mcu, 1, 1000, 2000);
await pan.Initialize();
var tilt = new Servo(mcu, 0, 1000, 2000);
await tilt.Initialize();
Console.WriteLine("Control servos with left thumbstick. Press 'Back' to disconnect.");
var lastY = float.NaN;
var lastX = float.NaN;
GamePadState pad;
do
{
pad = GamePad.GetState(PlayerIndex.One);
var y = pad.ThumbSticks.Left.Y;
var x = pad.ThumbSticks.Left.X;
if (x.CompareTo(lastX) != 0)
{
lastX = x;
Console.WriteLine("X: {0}", x);
await pan.Write(x);
}
if (y.CompareTo(lastY) != 0)
{
lastY = y;
Console.WriteLine("Y: {0}", y);
await tilt.Write(y);
}
} while (pad.Buttons.Back != ButtonState.Pressed);
Console.WriteLine("Disconnecting from MCU...");
await mcu.Disconnect();
}
public IActionResult TryHandle(IRequestHandler requestHandler, string url)
{
IMicrocontrollerResolver microcontrollerResolver = requestHandler.HttpContext.RequestServices.GetService <IMicrocontrollerResolver>();
Microcontroller microcontroller = microcontrollerResolver.GetMicrocontroller(requestHandler, url);
if (microcontroller == null)
{
return(null);
}
IMicrocontroller microcontrollerInstance = this.GetMicrocontrollerInstance(microcontroller);
if (microcontrollerInstance == null)
{
return(null);
}
return(microcontrollerInstance.Invoke(requestHandler, microcontroller, microcontrollerResolver.GetParameters(microcontroller.UrlTemplate, url)));
}
public static void Initialize(IMicrocontroller mcu)
{
mcu.BindAction("pinMode", PinMode);
mcu.BindFunc("digitalRead", DigitalRead);
mcu.BindAction("digitalWrite", DigitalWrite);
mcu.BindFunc("analogRead", AnalogRead);
mcu.BindAction("analogWrite", AnalogWrite);
mcu.BindFunc("loopTicks", LoopTicks);
mcu.BindAction("wireBegin", WireBegin);
mcu.BindAction("wireRequestFrom", WireRequestFrom);
mcu.BindFunc("wireAvailable", WireAvailable);
mcu.BindFunc("WireRead", WireRead);
mcu.BindAction("WireBeginTransmission", WireBeginTransmission);
mcu.BindAction("WireWrite", WireWrite);
mcu.BindAction("WireEndTransmission", WireEndTransmission);
mcu.BindAction("ServoAttach", ServoAttach);
mcu.BindAction("ServoDetach", ServoDetach);
mcu.BindAction("ServoWriteMicros", ServoWriteMicros);
mcu.BindFunc("Milliseconds", Milliseconds);
mcu.BindFunc("PulseIn", PulseIn);
}
internal void SetControllerProperties(CanTransceiver transceiver, IMicrocontroller owningMicrocontroller, FrameBuilder frameBuilder)
{
_transceiver = transceiver;
_owningMicrocontroller = owningMicrocontroller;
_frameBuilder = frameBuilder;
}
static async Task ControlServos()
{
Console.WriteLine("Connecting to MCU ({0})...", PORT);
mcu = new Microcontroller(new SerialTransport(PORT));
await mcu.Connect();
Console.WriteLine("Attaching arm...");
var arm = new Arm(mcu);
await arm.Initialize();
Console.WriteLine("Press 'Back' to disconnect.");
var lastLeftTrigger = float.NaN;
var lastRightTrigger = float.NaN;
var lastLeftX = float.NaN;
var lastLeftY = float.NaN;
var lastRightX = float.NaN;
var lastRightY = float.NaN;
GamePadState pad;
do
{
pad = GamePad.GetState(PlayerIndex.One);
var leftTrigger = pad.Triggers.Left;
var rightTrigger = pad.Triggers.Right;
var leftX = pad.ThumbSticks.Left.X;
var leftY = pad.ThumbSticks.Left.Y;
var rightX = pad.ThumbSticks.Right.X;
var rightY = pad.ThumbSticks.Right.Y;
// grip
if (rightTrigger.CompareTo(lastRightTrigger) != 0)
{
lastRightTrigger = rightTrigger;
Console.WriteLine("Grip: {0}", rightTrigger);
await arm.Grip(rightTrigger * 2 - 1);
}
// hand
if (leftX.CompareTo(lastLeftX) != 0)
{
lastLeftX = leftX;
Console.WriteLine("Hand: {0}", leftX);
await arm.Hand(-leftX);
}
// wrist
if (leftY.CompareTo(lastLeftY) != 0)
{
lastLeftY = leftY;
Console.WriteLine("Wrist: {0}", leftY);
await arm.Wrist(-leftY);
}
// elbow
if (rightY.CompareTo(lastRightY) != 0)
{
lastRightY = rightY;
Console.WriteLine("Elbow: {0}", rightY);
await arm.Elbow(rightY);
}
// shoulder
if (rightX.CompareTo(lastRightX) != 0)
{
lastRightX = rightX;
Console.WriteLine("Shoulder: {0}", rightX);
await arm.Shoulder(rightX);
}
// mount
if (leftTrigger.CompareTo(lastLeftTrigger) != 0)
{
lastLeftTrigger = leftTrigger;
Console.WriteLine("Mount: {0}", leftTrigger);
await arm.Mount(leftTrigger * 2 - 1);
}
} while (pad.Buttons.Back != ButtonState.Pressed);
Console.WriteLine("Disconnecting from MCU...");
await mcu.Disconnect();
}
internal CanNode(IMicrocontroller microController, CanTransceiver transceiver)
{
MicroController = microController;
Transceiver = transceiver;
}
public OmniDrive(IMicrocontroller mcu)
{
this.mcu = mcu;
}
public Gyro(IMicrocontroller mcu)
{
this.mcu = mcu;
}
static async Task ControlOmni()
{
Console.WriteLine("Connecting to MCU ({0})...", PORT);
mcu = new Microcontroller(new SerialTransport(PORT));
await mcu.Connect();
Console.WriteLine("Attaching omni drive...");
var omni = new OmniDrive(mcu);
await omni.Initialize();
Console.WriteLine("Control with left thumbstick. Press 'Back' to disconnect.");
var lastY = float.NaN;
var lastX = float.NaN;
var lastShoulderLeft = ButtonState.Released;
var lastShoulderRight = ButtonState.Released;
GamePadState pad;
do
{
pad = GamePad.GetState(PlayerIndex.One);
var y = pad.ThumbSticks.Left.Y;
var x = pad.ThumbSticks.Left.X;
var shoulderLeft = pad.Buttons.LeftShoulder;
var shoulderRight = pad.Buttons.RightShoulder;
if (x.CompareTo(lastX) != 0)
{
lastX = x;
Console.WriteLine("X: {0}", x);
if (x < 0)
{
await omni.DriveLeft((int)Math.Abs(x * 100));
}
else if (x > 0)
{
await omni.DriveRight((int)(Math.Abs(x * 100)));
}
else
{
await omni.AllStop();
}
}
if (y.CompareTo(lastY) != 0)
{
lastY = y;
Console.WriteLine("Y: {0}", y);
if (y < 0)
{
await omni.DriveForward((int)Math.Abs(y * 100));
}
else if (y > 0)
{
await omni.DriveBackward((int)(Math.Abs(y * 100)));
}
else
{
await omni.AllStop();
}
}
if (shoulderLeft.CompareTo(lastShoulderLeft) != 0)
{
lastShoulderLeft = shoulderLeft;
Console.WriteLine("ShoulderLeft : {0}", shoulderLeft);
if (shoulderLeft == ButtonState.Pressed)
{
await omni.RotateLeft(100);
}
else
{
await omni.AllStop();
}
}
if (shoulderRight.CompareTo(lastShoulderRight) != 0)
{
lastShoulderRight = shoulderRight;
Console.WriteLine("ShoulderRight : {0}", shoulderRight);
if (shoulderRight == ButtonState.Pressed)
{
await omni.RotateRight(100);
}
else
{
await omni.AllStop();
}
}
} while (pad.Buttons.Back != ButtonState.Pressed);
Console.WriteLine("Disconnecting from MCU...");
await mcu.Disconnect();
}
public Accelerometer(IMicrocontroller mcu)
{
this.mcu = mcu;
}
