public static void Main()
{
//distance sensor
//triger (12), echo (13), 5V + G
HC_SR04 sensor = new HC_SR04(Pins.GPIO_PIN_D12, Pins.GPIO_PIN_D13);
//buzzer
OutputPort Klakson = new OutputPort(Pins.GPIO_PIN_D0, false);
//motor driver
HBridge MotorDriver = new HBridge(SecretLabs.NETMF.Hardware.Netduino.PWMChannels.PWM_PIN_D5, Pins.GPIO_PIN_D4, SecretLabs.NETMF.Hardware.Netduino.PWMChannels.PWM_PIN_D6, Pins.GPIO_PIN_D7);
//led indicator if there is an object in the front of robot
OutputPort WarningLed = new OutputPort(Pins.GPIO_PIN_D1, false);
OutputPort GoLed = new OutputPort(Pins.GPIO_PIN_D2, false);
//waiting till connect...
if (!Microsoft.SPOT.Net.NetworkInformation.NetworkInterface.GetAllNetworkInterfaces()[0].IsDhcpEnabled)
{
// using static IP
while (!System.Net.NetworkInformation.NetworkInterface.GetIsNetworkAvailable())
{
; // wait for network connectivity
}
}
else
{
// using DHCP
while (IPAddress.GetDefaultLocalAddress() == IPAddress.Any)
{
; // wait for DHCP-allocated IP address
}
}
//Debug print our IP address
Debug.Print("Device IP: " + Microsoft.SPOT.Net.NetworkInformation.NetworkInterface.GetAllNetworkInterfaces()[0].IPAddress);
// create mqtt client instance
client = new MqttClient(IPAddress.Parse(MQTT_BROKER_ADDRESS));
string clientId = Guid.NewGuid().ToString();
client.Connect(clientId);
SubscribeMessage();
PublishMessage("/robot/state", "ONLINE");
while (true)
{
long ticks = sensor.Ping();
if (ticks > 0L)
{
double inches = sensor.TicksToInches(ticks);
Debug.Print("jarak ke object :" + inches);
if (inches < 4)
{
jalan = Arah.Berhenti;
Klakson.Write(true);
WarningLed.Write(true);
GoLed.Write(false);
PublishMessage("/robot/status", "Watchout there is an object in the front of robot!");
}
else
{
Klakson.Write(false);
WarningLed.Write(false);
GoLed.Write(true);
}
}
//stop first before change direction or turn
if (lastDirection != jalan)
{
//stop before start new direction
MotorDriver.SetState(HBridge.Motors.Motor1, 0);
MotorDriver.SetState(HBridge.Motors.Motor2, 0);
}
switch (jalan)
{
case Arah.Maju:
MotorDriver.SetState(HBridge.Motors.Motor1, Speed);
MotorDriver.SetState(HBridge.Motors.Motor2, Speed);
break;
case Arah.Mundur:
MotorDriver.SetState(HBridge.Motors.Motor1, (sbyte)(-Speed));
MotorDriver.SetState(HBridge.Motors.Motor2, (sbyte)(-Speed));
break;
case Arah.Kiri:
MotorDriver.SetState(HBridge.Motors.Motor1, -50);
MotorDriver.SetState(HBridge.Motors.Motor2, 50);
break;
case Arah.Kanan:
MotorDriver.SetState(HBridge.Motors.Motor1, 50);
MotorDriver.SetState(HBridge.Motors.Motor2, -50);
break;
case Arah.Berhenti:
MotorDriver.SetState(HBridge.Motors.Motor1, 0);
MotorDriver.SetState(HBridge.Motors.Motor2, 0);
break;
}
lastDirection = jalan;
}
}
public static void Main()
{
//distance sensor
//triger (12), echo (13), 5V + G
HC_SR04 sensor = new HC_SR04(Pins.GPIO_PIN_D12, Pins.GPIO_PIN_D13);
//buzzer
OutputPort Klakson = new OutputPort(Pins.GPIO_PIN_D0, false);
//motor driver
HBridge MotorDriver = new HBridge(SecretLabs.NETMF.Hardware.Netduino.PWMChannels.PWM_PIN_D5, Pins.GPIO_PIN_D4, SecretLabs.NETMF.Hardware.Netduino.PWMChannels.PWM_PIN_D6, Pins.GPIO_PIN_D7);
//led indicator if there is an object in the front of robot
OutputPort WarningLed = new OutputPort(Pins.GPIO_PIN_D1, false);
OutputPort GoLed = new OutputPort(Pins.GPIO_PIN_D2, false);
//waiting till connect...
if (!Microsoft.SPOT.Net.NetworkInformation.NetworkInterface.GetAllNetworkInterfaces()[0].IsDhcpEnabled)
{
// using static IP
while (!System.Net.NetworkInformation.NetworkInterface.GetIsNetworkAvailable()) ; // wait for network connectivity
}
else
{
// using DHCP
while (IPAddress.GetDefaultLocalAddress() == IPAddress.Any) ; // wait for DHCP-allocated IP address
}
//Debug print our IP address
Debug.Print("Device IP: " + Microsoft.SPOT.Net.NetworkInformation.NetworkInterface.GetAllNetworkInterfaces()[0].IPAddress);
// create mqtt client instance
client = new MqttClient(IPAddress.Parse(MQTT_BROKER_ADDRESS));
string clientId = Guid.NewGuid().ToString();
client.Connect(clientId);
SubscribeMessage();
PublishMessage("/robot/state", "ONLINE");
while (true)
{
long ticks = sensor.Ping();
if (ticks > 0L)
{
double inches = sensor.TicksToInches(ticks);
Debug.Print("jarak ke object :" + inches);
if (inches < 4)
{
jalan = Arah.Berhenti;
Klakson.Write(true);
WarningLed.Write(true);
GoLed.Write(false);
PublishMessage("/robot/status", "Watchout there is an object in the front of robot!");
}
else
{
Klakson.Write(false);
WarningLed.Write(false);
GoLed.Write(true);
}
}
//stop first before change direction or turn
if (lastDirection != jalan)
{
//stop before start new direction
MotorDriver.SetState(HBridge.Motors.Motor1, 0);
MotorDriver.SetState(HBridge.Motors.Motor2, 0);
}
switch (jalan)
{
case Arah.Maju:
MotorDriver.SetState(HBridge.Motors.Motor1, Speed);
MotorDriver.SetState(HBridge.Motors.Motor2, Speed);
break;
case Arah.Mundur:
MotorDriver.SetState(HBridge.Motors.Motor1,(sbyte)(-Speed));
MotorDriver.SetState(HBridge.Motors.Motor2, (sbyte)(-Speed));
break;
case Arah.Kiri:
MotorDriver.SetState(HBridge.Motors.Motor1, -50);
MotorDriver.SetState(HBridge.Motors.Motor2, 50);
break;
case Arah.Kanan:
MotorDriver.SetState(HBridge.Motors.Motor1, 50);
MotorDriver.SetState(HBridge.Motors.Motor2, -50);
break;
case Arah.Berhenti:
MotorDriver.SetState(HBridge.Motors.Motor1, 0);
MotorDriver.SetState(HBridge.Motors.Motor2, 0);
break;
}
lastDirection = jalan;
}
}
