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 ();
}
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);
}
// センサ/モータ
// タッチセンサ 1
// 超音波センサ 2
// カラーセンサ 3
// ジャイロセンサ 4
// 尻尾用モータ A
// 右車輪用モータ B
// 左車輪用モータ C
public EquipmentParameters ()
{
// 車両情報
// ポート番号
TailMoter = new Motor(MotorPort.OutA);
MpRight = new Motor(MotorPort.OutB);
MpLeft = new Motor(MotorPort.OutC);
TouchSensors = new EV3TouchSensor(SensorPort.In1);
// TODO : 超音波センサーはLのみ(Primary)
DistSensors = new EV3UltrasonicSensor(SensorPort.In2, UltraSonicMode.Centimeter);
// 反射
LightSensors = new EV3ColorSensor(SensorPort.In3, ColorMode.Reflection);
GyroSensors = new EV3GyroSensor(SensorPort.In4, GyroMode.AngularVelocity);
}
public static ISensor GetSensor(SensorPort port)
{
ISensor sensor = null;
SensorType sensorType = SensorManager.Instance.GetSensorType(port);
ConnectionType connectionType = SensorManager.Instance.GetConnectionType(port);
switch (sensorType)
{
case SensorType.Color:
sensor = new EV3ColorSensor(port);
break;
case SensorType.Gyro:
sensor = new EV3GyroSensor(port);
break;
case SensorType.IR:
sensor = new EV3IRSensor(port);
break;
case SensorType.NXTColor:
sensor = new NXTColorSensor(port);
break;
case SensorType.NXTLight:
sensor = new NXTLightSensor(port);
break;
case SensorType.NXTSound:
sensor = new NXTSoundSensor(port);
break;
case SensorType.NXTTouch:
sensor = new NXTTouchSensor(port);
break;
case SensorType.NXTUltraSonic:
sensor = new NXTUltraSonicSensor(port);
break;
case SensorType.Touch:
sensor = new EV3TouchSensor(port);
break;
case SensorType.UltraSonic:
sensor = new EV3UltrasonicSensor(port);
break;
case SensorType.NXTI2c:
var helper = new I2CHelper(port);
sensor = helper.GetSensor();
break;
case SensorType.Unknown:
if (connectionType == ConnectionType.UART)
{
var uartHelper = new UARTHelper(port);
sensor = uartHelper.GetSensor();
}
if (connectionType == ConnectionType.InputResistor)
{
sensor = new EV3TouchSensor(port);
}
break;
case SensorType.I2CUnknown:
break;
case SensorType.NXTTemperature:
break;
case SensorType.LMotor:
break;
case SensorType.MMotor:
break;
case SensorType.NXTTest:
break;
case SensorType.Terminal:
break;
case SensorType.Test:
break;
case SensorType.Error:
break;
case SensorType.None:
break;
}
return(sensor);
}
/// <summary>
/// コンストラクタ
/// </summary>
public Balanc3R()
{
motorR = new Motor(MotorPort.OutA); // 右足
motorL = new Motor(MotorPort.OutD); // 左足
speaker = new Speaker(0);
gyro = new EV3GyroSensor(SensorPort.In2);
// 角速度を取得
gyro.Mode = GyroMode.AngularVelocity;
ir = new EV3IRSensor(SensorPort.In4);
ir.Mode = IRMode.Remote;
}
public static ISensor GetSensor (SensorPort port)
{
ISensor sensor = null;
SensorType sensorType = SensorManager.Instance.GetSensorType (port);
ConnectionType connectionType = SensorManager.Instance.GetConnectionType (port);
switch (sensorType) {
case SensorType.Color:
sensor = new EV3ColorSensor (port);
break;
case SensorType.Gyro:
sensor = new EV3GyroSensor (port);
break;
case SensorType.IR:
sensor = new EV3IRSensor (port);
break;
case SensorType.NXTColor:
sensor = new NXTColorSensor (port);
break;
case SensorType.NXTLight:
sensor = new NXTLightSensor (port);
break;
case SensorType.NXTSound:
sensor = new NXTSoundSensor (port);
break;
case SensorType.NXTTouch:
sensor = new NXTTouchSensor (port);
break;
case SensorType.NXTUltraSonic:
sensor = new NXTUltraSonicSensor (port);
break;
case SensorType.Touch:
sensor = new EV3TouchSensor (port);
break;
case SensorType.UltraSonic:
sensor = new EV3UltrasonicSensor (port);
break;
case SensorType.NXTI2c:
var helper = new I2CHelper (port);
sensor = helper.GetSensor ();
break;
case SensorType.Unknown:
if (connectionType == ConnectionType.UART) {
var uartHelper = new UARTHelper (port);
sensor = uartHelper.GetSensor ();
}
if (connectionType == ConnectionType.InputResistor) {
sensor = new EV3TouchSensor (port);
}
break;
case SensorType.I2CUnknown:
break;
case SensorType.NXTTemperature:
break;
case SensorType.LMotor:
break;
case SensorType.MMotor:
break;
case SensorType.NXTTest:
break;
case SensorType.Terminal:
break;
case SensorType.Test:
break;
case SensorType.Error:
break;
case SensorType.None:
sensor = new NoSensor (port);
break;
}
if (sensor == null)
{
sensor = new UnknownSensor(port);
}
return sensor;
}
