public static void WriteLine(string format, params object[] args)
{
var message = string.Format(format, args);
Console.WriteLine(message);
LcdConsole.WriteLine(message);
}
public static void Display()
{
LcdConsole.Clear();
// http://stackoverflow.com/questions/105031/how-do-you-get-total-amount-of-ram-the-computer-has
// http://stackoverflow.com/questions/3896685/simplest-possible-performance-counter-example
foreach (var pcCategory in PerformanceCounterCategory.GetCategories())
{
LcdConsole.Clear();
LcdConsole.WriteLine(pcCategory.CategoryName);
int lineNum = 1;
int pageNum = 1;
foreach (var performanceCounter in pcCategory.GetCounters())
{
LcdConsole.WriteLine(performanceCounter.CounterName);
LcdConsole.WriteLine("{0}", performanceCounter.RawValue);
if ((++lineNum % 5) == 0)
{
LcdConsole.WriteLine("-----{0} page {1}", pcCategory.CategoryName, pageNum++);
EV3KeyPad.ReadKey();
}
}
LcdConsole.WriteLine("-----End of {0}", pcCategory.CategoryName);
EV3KeyPad.ReadKey();
}
}
public static void Main(string[] args)
{
ManualResetEvent terminateProgram = new ManualResetEvent(false);
var soundSensor = new NXTSoundSensor(SensorPort.In1);
ButtonEvents buts = new ButtonEvents();
LcdConsole.WriteLine("Use sound on port1");
LcdConsole.WriteLine("Up sensor value");
LcdConsole.WriteLine("Enter read raw");
LcdConsole.WriteLine("Down change mode");
LcdConsole.WriteLine("Esc. terminate");
buts.EscapePressed += () => {
terminateProgram.Set();
};
buts.UpPressed += () => {
LcdConsole.WriteLine("Sensor value:" + soundSensor.ReadAsString());
};
buts.EnterPressed += () => {
LcdConsole.WriteLine("Sensor raw value:" + soundSensor.ReadRaw());
};
buts.DownPressed += () => {
if (soundSensor.Mode == SoundMode.SoundDB)
{
soundSensor.Mode = SoundMode.SoundDBA;
}
else
{
soundSensor.Mode = SoundMode.SoundDB;
}
LcdConsole.WriteLine("Sensor mode is now: " + soundSensor.Mode);
};
terminateProgram.WaitOne();
}
public virtual void Eat()
{
//Make crunching sound
MakeSound(DogSound.Crunching);
fullness += 4;
LcdConsole.WriteLine("Eating");
}
public static void Main(string[] args)
{
//The MSSensorMUXBase allows you to use the Mindsensors Multiplexer almost like every other sensor
//The easiest way to use sensors is the following:
MSSensorMUXBase GyroSensor = new MSSensorMUXBase(SensorPort.In1, MSSensorMUXPort.C1);
//But that is a general way to use them that doesn't allow to use the TouchSensor and doesn't specify
//the number of modes of the Sensor. It's better to use the following way:
MSSensorMUXBase IRSensor = new MSSensorMUXBase(SensorPort.In1, MSSensorMUXPort.C3, IRMode.Remote);
//You can see that you can use the Modes of the different sensors the same way like when you use them
//without Multiplexer.
//The EV3 Touchsensor needs to be traited a bit different:
MSSensorMUXBase TouchSensor = new MSSensorMUXBase(SensorPort.In1, MSSensorMUXPort.C2, MSSensorMUXMode.TouchMode);
while (true)
{
System.Threading.Thread.Sleep(500);
//You can either read one, two, four or eight bytes at once from the sensor.
//Normally one byte is enough but there are times when you want to read more.
//Refer to http://mindsensors.com/index.php?module=documents&JAS_DocumentManager_op=downloadFile&JAS_File_id=1394
//(Supported Sensors) for the suggested length for the different modes
LcdConsole.WriteLine(Convert.ToString(GyroSensor.Read()) + ", " +
Convert.ToString(TouchSensor.ReadOneByte()) + ", " + IRSensor.ReadAsString());
}
}
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();
}
private static void OutPerformanceCounterValue(string categoryName, string counterName)
{
var pc = new PerformanceCounter(categoryName, counterName);
LcdConsole.WriteLine("{0} ({1})", counterName, categoryName);
LcdConsole.WriteLine("{0:N0}", pc.RawValue);
}
public static void Main(string[] args)
{
ButtonEvents buts = new ButtonEvents();
bool run = true;
buts.EscapePressed += () =>
{
run = false;
};
MotorSync motori = new MotorSync(MotorPort.OutB, MotorPort.OutD);
EV3IRSensor ir = new EV3IRSensor(SensorPort.In3, IRMode.Proximity);
Thread bg = new Thread(Scan);
bg.Start();
while (run && ir.Read() > 80)
{
LcdConsole.WriteLine(ir.Read().ToString());
Thread.Sleep(200);
}
bg.Abort();
motori.Brake();
motori.Off();
}
public void debug(string message)
{
if (CurrentLogger.Debug)
{
LcdConsole.WriteLine("[DEBUG] " + message);
}
}
public static void Main(string[] args)
{
Vehicle vehicle = new Vehicle(MotorPort.OutA, MotorPort.OutD);
const int speed = 40;
const int moveSteps = 2000; //You need to adjust this
const int spinSteps = 500; //You need to adjust this
vehicle.ReverseLeft = false; //You might need to adjust this
vehicle.ReverseRight = false; //You might need to adjust this
LcdConsole.WriteLine("Use Motor on A");
LcdConsole.WriteLine("Use Motor on D");
//Make a square
for (int i = 0; i < 4; i++)
{
LcdConsole.WriteLine("Spin left");
vehicle.SpinLeft(speed, spinSteps, true);
LcdConsole.WriteLine("Move forward");
vehicle.Forward(speed, moveSteps, true);
}
vehicle.Off();
Thread.Sleep(3000);
LcdConsole.WriteLine("Make a soft turn to the left");
vehicle.TurnLeftForward(speed, 50, moveSteps, false);
}
public static void Main(string[] args)
{
EventWaitHandle stopped = new ManualResetEvent(false);
ColorMode[] modes = { ColorMode.Color, ColorMode.Reflection, ColorMode.Ambient, ColorMode.Blue };
int modeIdx = 0;
var sensor = new EV3ColorSensor(SensorPort.In1);
ButtonEvents buts = new ButtonEvents();
LcdConsole.WriteLine("Use color on port1");
LcdConsole.WriteLine("Up read value");
LcdConsole.WriteLine("Down raw value");
LcdConsole.WriteLine("Enter change mode");
LcdConsole.WriteLine("Esc. terminate");
buts.EscapePressed += () => {
stopped.Set();
};
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]);
};
stopped.WaitOne();
}
public static void Debug(String message)
{
if (level <= LEVEL_DEBUG)
{
LcdConsole.WriteLine("[D] " + message);
}
}
public static void Main(string[] args)
{
ManualResetEvent terminateProgram = new ManualResetEvent(false);
ButtonEvents buts = new ButtonEvents();
HiTecCompassSensor compass = new HiTecCompassSensor(SensorPort.In1);
HiTecColorSensor colorSensor = new HiTecColorSensor(SensorPort.In2);
HiTecTiltSensor tilt = new HiTecTiltSensor(SensorPort.In3);
LcdConsole.WriteLine("Use compass on port1");
LcdConsole.WriteLine("Use color on port2");
LcdConsole.WriteLine("Use tilt on port3");
LcdConsole.WriteLine("Up read compass");
LcdConsole.WriteLine("Down read tilt");
LcdConsole.WriteLine("Enter read color");
LcdConsole.WriteLine("Esc. terminate");
buts.EscapePressed += () => {
terminateProgram.Set();
};
buts.UpPressed += () => {
LcdConsole.WriteLine("Compass sensor: " + compass.ReadAsString());
};
buts.EnterPressed += () => {
LcdConsole.WriteLine("Color sensor: " + colorSensor.ReadAsString());
LcdConsole.WriteLine("Color index: " + colorSensor.ReadColorIndex());
};
buts.DownPressed += () => {
LcdConsole.WriteLine("Tilt : " + tilt.ReadAsString());
};
terminateProgram.WaitOne();
}
public static void Main(string[] args)
{
ButtonEvents buts = new ButtonEvents();
var tokenSource = new CancellationTokenSource();
var token = tokenSource.Token;
var dialog = new InfoDialog("Attach distance sensor", false);
dialog.Show();
var sensor = SensorAttachment.Wait <MSAngleSensor>(token); //wait for sensor to attached on any port
LcdConsole.WriteLine("Up reset angle");
LcdConsole.WriteLine("Down read RMP");
LcdConsole.WriteLine("Enter read angle");
LcdConsole.WriteLine("Left read raw");
LcdConsole.WriteLine("Esc. terminate");
buts.EscapePressed += () => {
tokenSource.Cancel();
};
buts.EnterPressed += () => {
LcdConsole.WriteLine("Angle: " + sensor.ReadAngle().ToString());
};
buts.UpPressed += () => {
LcdConsole.WriteLine("Reset angle");
sensor.ResetAngle();
};
buts.DownPressed += () => {
LcdConsole.WriteLine("Read RPM: " + sensor.ReadRPM().ToString());
};
buts.LeftPressed += () => {
LcdConsole.WriteLine("Read raw: " + sensor.ReadRAW().ToString());
};
token.WaitHandle.WaitOne();
}
void MotorPollThread()
{
try
{
while (true)
{
// take all pending comamnds
IRobotCommand command = null;
if (_commands.TryTake(out command, Timeout.Infinite, _cancel))
{
// do it!
command.Do(this);
// anything to do after a command executed?
PostCommand();
}
}
}
catch (OperationCanceledException)
{
// normal exception when thread is stopped
}
catch (Exception ex)
{
//
while (ex != null)
{
LcdConsole.WriteLine(ex.Message);
ex = ex.InnerException;
}
throw;
}
}
static void DriveToColor(sbyte speed, string Color, Motor motorR, Motor motorL, EV3ColorSensor sensor)
{
int i = 0;
LcdConsole.WriteLine("zoeken naar" + sensor.ReadAsString() + "en " + Color);
Thread.Sleep(1000);
motorL.SetSpeed(speed);
motorR.SetSpeed(speed);
while (Color != sensor.ReadAsString())
{
LcdConsole.WriteLine("Sensor ẁaarde:" + sensor.ReadAsString());
if (Color == (sensor.ReadAsString()))
{
LcdConsole.WriteLine("Sensor ẁaarde:" + sensor.ReadAsString());
LcdConsole.WriteLine("GEVONDEN " + sensor.ReadAsString());
motorR.Off();
motorL.Off();
break;
}
Thread.Sleep(50); // wacht voor zoveel miliseconde voor de volgende loop
i++;
if (i > 60) // als 5000 miliseconden voorbij zijn stop
{
LcdConsole.WriteLine("heeft de kleur niet kunnen vinden");
motorR.Off();
motorL.Off();
break;
}
}
}
public static void Info(String message)
{
if (level <= LEVEL_INFO)
{
LcdConsole.WriteLine("[I] " + message);
}
}
public static void Warning(String message)
{
if (level <= LEVEL_WARNING)
{
LcdConsole.WriteLine("[W] " + message);
}
}
public static void Main(string[] args)
{
ManualResetEvent terminateProgram = new ManualResetEvent(false);
GyroMode[] modes = { GyroMode.Angle, GyroMode.AngularVelocity };
int modeIdx = 0;
ButtonEvents buts = new ButtonEvents();
var gyro = new EV3GyroSensor(SensorPort.In2, GyroMode.Angle);
LcdConsole.WriteLine("Use gyro on port 1");
LcdConsole.WriteLine("Up read value");
LcdConsole.WriteLine("Down rotation count");
LcdConsole.WriteLine("Left reset");
LcdConsole.WriteLine("Enter change mode");
LcdConsole.WriteLine("Esc. terminate");
buts.EscapePressed += () => {
terminateProgram.Set();
};
buts.UpPressed += () => {
LcdConsole.WriteLine("Gyro sensor: " + gyro.ReadAsString());
};
buts.EnterPressed += () => {
modeIdx = (modeIdx + 1) % modes.Length;
gyro.Mode = modes[modeIdx];
LcdConsole.WriteLine("Mode: " + modes[modeIdx]);
};
buts.DownPressed += () => {
LcdConsole.WriteLine("Rotation count: " + gyro.RotationCount());
};
buts.LeftPressed += () => {
LcdConsole.WriteLine("Reset");
gyro.Reset();
};
terminateProgram.WaitOne();
}
// Algoritam trazenja
static bool Search()
{
LcdConsole.WriteLine("Trazenje predmeta...");
lMotor.ResetTacho(); // Resetuje tacho motora zbog okretanja na kraju
rMotor.ResetTacho();
Thread movement = new Thread(SearchMove);
movement.IsBackground = true; // Background thread se gasi kada se main zavrsi
movement.Start();
progress = 0;
while (ir.Read() > C.irScanTreshold && progress < tableLenght)
{
LcdConsole.WriteLine(ir.Read().ToString());
if (color.Read() == 0)
{
movement.Abort();
motors.Brake();
throw new Exception("Vrednost senzora za boju je 0!");
}
Thread.Sleep(200);
}
movement.Abort();
motors.Brake();
Thread.Sleep(C.motorBrakeSleepTime);
if (progress == tableLenght)
{
return(false);
}
else
{
return(true);
}
}
public static void RijBepaaldeAfstand(int i)
{
Motor motor = new Motor(MotorPort.OutA);
Motor motorB = new Motor(MotorPort.OutB);
motor.ResetTacho();
int n = 1;
while (n < 6)
{
motor.SetSpeed(25);
motorB.SetSpeed(25);
int distance = motor.GetTachoCount();
int afstand = distance;
if (afstand < (i))
{
motor.Off();
motorB.Off();
n = 8;
}
LcdConsole.WriteLine("Afstand: " + afstand);
}
}
public static void Main(string[] args)
{
ManualResetEvent terminateProgram = new ManualResetEvent(false);
var lightSensor = new NXTLightSensor(SensorPort.In1);
ButtonEvents buts = new ButtonEvents();
LcdConsole.WriteLine("Use light on port1");
LcdConsole.WriteLine("Up value ");
LcdConsole.WriteLine("Down change mode");
LcdConsole.WriteLine("Esc. terminate");
buts.EscapePressed += () => {
terminateProgram.Set();
};
buts.UpPressed += () => {
LcdConsole.WriteLine("Sensor value:" + lightSensor.ReadAsString());
};
buts.DownPressed += () => {
if (lightSensor.Mode == LightMode.Ambient)
{
lightSensor.Mode = LightMode.Relection;
}
else
{
lightSensor.Mode = LightMode.Ambient;
}
LcdConsole.WriteLine("Sensor mode is now: " + lightSensor.Mode);
};
terminateProgram.WaitOne();
}
public static int Gyroscope()
{
MonoBrickFirmware.Sensors.EV3GyroSensor Gyroskoopje = new MonoBrickFirmware.Sensors.EV3GyroSensor(MonoBrickFirmware.Sensors.SensorPort.In2);
int graden = Gyroskoopje.Read();
LcdConsole.WriteLine("Graden: " + graden);
return(graden);
}
public static int SensorAfstand()
{
MonoBrickFirmware.Sensors.EV3UltrasonicSensor UltraSensor = new MonoBrickFirmware.Sensors.EV3UltrasonicSensor(MonoBrickFirmware.Sensors.SensorPort.In1);
int distance = UltraSensor.Read();
LcdConsole.WriteLine("Distance: " + distance);
return(distance);
}
// Algoritam podizanja predmeta
static void Pickup()
{
LcdConsole.WriteLine("Predmet pronadjen");
ArmMove(ArmPosition.Open);
motorWH = motors.StepSync(C.pickupForwardSpeed, 0, (uint)(ir.Read() * C.stepsPerCm), true);
motorWH.WaitOne();
ArmMove(ArmPosition.Lifted);
}
private static void Quit_OnEnterPressed()
{
LcdConsole.Clear();
LcdConsole.WriteLine("Terminating");
// Wait a bit
Thread.Sleep(1000);
TerminateMenu();
}
static void Log(string log)
{
// if (MonoBrickFirmware.Tools.PlatFormHelper.RunningPlatform == MonoBrickFirmware.Tools.PlatFormHelper.Platform.EV3)
{
LcdConsole.WriteLine("{0}", log);
}
//else
//{
// Console.WriteLine(log);
//}
}
public virtual void ControlEyes(DogEyes eyes)
{
//use enum for picking the right image file
this.eyes = eyes;
LcdConsole.WriteLine(eyes.ToString());
Bitmap bmpEyes = Bitmap.FromResouce(Assembly.GetExecutingAssembly(), eyes.ToString() + ".bitmap");
Lcd.Instance.Clear();
Lcd.Instance.DrawBitmap(bmpEyes, new Point((int)(Lcd.Width - bmpEyes.Width) / 2, 10));
Lcd.Instance.Update();
}
static void Turning(EV3GyroSensor gyroSensor, int draaiGraden, Motor motorL, Motor motorR)
{
gyroSensor.Reset();
sbyte draaiSnelheid = 20;
sbyte minDraaiSnelheid = -20;
int graden = 0;
int counter = 0;
int updateTime = 8;
if (draaiGraden > 0) //als hij naar rechts moet draaien dus een positief getal is
{
LcdConsole.WriteLine("GROTER ALS 0 ", draaiGraden);
motorL.SetSpeed(draaiSnelheid);
motorR.SetSpeed(minDraaiSnelheid);
while (graden <= draaiGraden) //terwijl het aantal graden dat hij gedraaid is kleiner is dan het aantal graden dat hij moet draaien
{
LcdConsole.WriteLine("Gyro sensor: " + gyroSensor.ReadAsString());
graden = gyroSensor.Read();
Thread.Sleep(updateTime);
counter++;
if (counter > 500)
{
break;
}
}
}
if (draaiGraden < 0) //als hij naar links moet draaien dus het aantal graden negatief is
{
LcdConsole.WriteLine("KLEINER ALS 0 ", draaiGraden);
motorL.SetSpeed(minDraaiSnelheid);
motorR.SetSpeed(draaiSnelheid);
while (graden >= draaiGraden) //terwijl het aantal graden dat hij gedraaid is groter is dan het aantal graden dat hij moet draaien
{
LcdConsole.WriteLine("Gyro sensor: " + gyroSensor.ReadAsString());
graden = gyroSensor.Read();
Thread.Sleep(updateTime);
counter++;
if (counter > 500)
{
break;
}
}
}
else
{
LcdConsole.WriteLine("IK KAN GEEN 0 GRADEN DRAAIEN " + gyroSensor.ReadAsString());
}
motorR.Brake();
motorL.Brake();
motorR.Off();
motorL.Off();
Thread.Sleep(1000);
}
void ScanPollThread()
{
try
{
Motor xmotor = Motors[RobotSetup.XPort];
Motor ymotor = Motors[RobotSetup.YPort];
float xratio = RatioSettings[RobotSetup.XPort];
float yratio = RatioSettings[RobotSetup.YPort];
int prevx = -1;
int prevy = -1;
while (true)
{
_scanWait.WaitOne();
// capture motor positions
int x = xmotor.GetTachoCount();
int y = ymotor.GetTachoCount();
if (prevx != x || prevy != y)
{
// send a data point
RGBColor color = _colorSensor.ReadRGB();
// a bit of formatting
SendData(string.Format("PIX;{0};{1};{2};{3:#.##};{4:#.##}\0", new object[] { color.Red, color.Green, color.Blue, x / xratio, y / yratio }));
//
// LcdConsole.WriteLine(string.Format("{0:#.##}:{1:#.##} = {2}", x / xratio, y / yratio, color.ToString()));
prevx = x;
prevy = y;
}
if (_scanDelay > 0)
{
Thread.Sleep(_scanDelay);
}
}
}
catch (OperationCanceledException)
{
// normal exception when thread is stopped
}
catch (Exception ex)
{
//
while (ex != null)
{
LcdConsole.WriteLine(ex.Message);
ex = ex.InnerException;
}
throw;
}
}
