Exemple #1
0
        /*
         * This method turns the virtual cube and the real cube (if instantiated)
         * 90 degrees counterclockwise.
         */
        public void TurnCubeCCW()
        {
            // moves the virtual model of the cube
            Face aux;

            this.face [0].TurnCCWCore();
            this.face [1].TurnCCWCore();
            this.face [2].TurnCCWCore();
            this.face [3].TurnCCWCore();
            this.face [4].TurnCCWCore();
            this.face [5].TurnCWCore();
            aux           = this.face [1];
            this.face [1] = this.face [2];
            this.face [2] = this.face [3];
            this.face [3] = this.face [4];
            this.face [4] = aux;
            // actually moves the physical cube
            if (motorA != null && motorB != null && motorD != null)
            {
                if (!this._isArmRest)
                {
                    MoveCube.Move(motorD, MoveCube.RestArm);
                    this._isArmRest = true;
                }
                MoveCube.MoveRel(motorA, MoveCube.CCW90);
            }
        }
Exemple #2
0
        /*
         * This method turns the bottom face of the virtual cube and the real cube
         * (if instantiated) 180 degrees.
         */
        public void TurnRow180()
        {
            // moves the virtual model of the cube
            char aux;

            for (int i = 0; i < 2; i++)
            {
                this.face [0].TurnCWCore();
                aux = this.face [1].square [2, 2];
                this.face [1].square [2, 2] = this.face [4].square [0, 2];
                this.face [4].square [0, 2] = this.face [3].square [0, 0];
                this.face [3].square [0, 0] = this.face [2].square [2, 0];
                this.face [2].square [2, 0] = aux;
                aux = this.face [1].square [1, 2];
                this.face [1].square [1, 2] = this.face [4].square [0, 1];
                this.face [4].square [0, 1] = this.face [3].square [1, 0];
                this.face [3].square [1, 0] = this.face [2].square [2, 1];
                this.face [2].square [2, 1] = aux;
                aux = this.face [1].square [0, 2];
                this.face [1].square [0, 2] = this.face [4].square [0, 0];
                this.face [4].square [0, 0] = this.face [3].square [2, 0];
                this.face [3].square [2, 0] = this.face [2].square [2, 2];
                this.face [2].square [2, 2] = aux;
            }
            // actually moves the physical cube
            if (motorA != null && motorB != null && motorD != null)
            {
                MoveCube.Move(motorD, MoveCube.GrabArm);
                MoveCube.MoveRel(motorA, MoveCube.CW180);
                this._isArmRest = false;
            }
        }
Exemple #3
0
        public static void Main(string[] args)
        {
            var sensor = new EV3ColorSensor(SensorPort.In1);

            sensor.Mode = ColorMode.RGB;

            Motor motorA = new Motor(MotorPort.OutA);
            Motor motorB = new Motor(MotorPort.OutB);
            Motor motorD = new Motor(MotorPort.OutD);

            string solution;

            Cube cube = new Cube(motorA, motorB, motorD);              // instantiate a real cube

            // Cube cube = new Cube (); // virtual cube used for tests
            // Solver.Randomizer (cube, 5000); // scramble the virtual cube

            DateTime starttime   = DateTime.Now;
            TimeSpan elapsedtime = new TimeSpan();

            MoveCube.BuildCube2P(cube, MoveCube.BuildCube(cube, motorA, motorB, motorD, sensor));

            elapsedtime = DateTime.Now - starttime;

            Console.WriteLine(cube.GetCubeMap());
            Console.WriteLine(cube.ToString());
            Console.WriteLine("Elapsed time scanning cube: {0}", elapsedtime);


            starttime = DateTime.Now;

            // uncomment line below if you want to use the internal algorithm to solve the cube.
            // It's the easiest way, but also the slowest.
            // solution = Solver.Solve (cube);

            // comment the following block if you intend to use the internal algorithm to solve
            // the cube. By default the main program tries to read the solution from a solution
            // file. Just run the Kociemba algorithm on a pc and use scp, putty or any other ssh
            // tool to send the file to the intelligent Lego brick.
            Communication.ClearCube(Communication.CubePath);
            Communication.ClearCube(Communication.SolutionPath);
            Communication.SaveCube(Communication.CubePath, cube.ToString());
            solution = Communication.ReceiveSolution();

            elapsedtime = DateTime.Now - starttime;

            Console.WriteLine("Solution: {0}", solution);
            Console.WriteLine("Elapsed time receiving solution: {0}", elapsedtime);

            starttime = DateTime.Now;

            Solver.TranslateMove(solution, cube);
            Console.WriteLine(cube.GetCubeMap());

            elapsedtime = DateTime.Now - starttime;
            Console.WriteLine("Time elapsed moving cube: {0}", elapsedtime);

            Communication.ClearCube(Communication.CubePath);
            Communication.ClearCube(Communication.SolutionPath);
        }
Exemple #4
0
 /*
  * This method puts the cube arm in rest position.
  */
 public void RestArm()
 {
     if (motorA != null && motorB != null && motorD != null)
     {
         MoveCube.Move(motorD, MoveCube.RestArm);
         this._isArmRest = true;
     }
 }
Exemple #5
0
        /*
         * This method rolls the virtual and real cube (if instantiated).
         */
        public void Roll()
        {
            // moves the virtual model of the cube
            Face aux;

            this.face [1].TurnCCWCore();
            this.face [3].TurnCWCore();
            aux           = this.face [2];
            this.face [2] = this.face [0];
            this.face [0] = this.face [4];
            this.face [4] = this.face [5];
            this.face [5] = aux;
            // actually moves the physical cube
            if (motorA != null && motorB != null && motorD != null)
            {
                MoveCube.Move(motorD, MoveCube.GrabArm);
                MoveCube.Move(motorD, MoveCube.PullArm);
                MoveCube.Move(motorD, MoveCube.GrabArm, 50);
                this._isArmRest = false;
            }
        }
Exemple #6
0
        /*
         * This method controls the movements of the robot to position
         * each face of the cube to be scanned by the color sensor.
         */
        public static char[] BuildCube(Cube cube, Motor motorA, Motor motorB, Motor motorD, EV3ColorSensor sensor)
        {
            char[] faces = new char[6];


            // Position face in cube
            for (int j = 0; j < 6; j++)
            {
                switch (j)
                {
                case 0:
                    BuildFace(cube.face[3], motorA, motorB, sensor);
                    cube.face [3].TurnCWCore();
                    cube.face [3].TurnCWCore();
                    MoveCube.Move(motorD, MoveCube.GrabArm);
                    MoveCube.Move(motorD, MoveCube.PullArm);
                    MoveCube.Move(motorD, MoveCube.RestArm);
                    break;

                case 1:
                    BuildFace(cube.face[2], motorA, motorB, sensor);
                    cube.face [2].TurnCWCore();
                    MoveCube.Move(motorD, MoveCube.GrabArm);
                    MoveCube.Move(motorD, MoveCube.PullArm);
                    MoveCube.Move(motorD, MoveCube.RestArm);
                    break;

                case 2:
                    BuildFace(cube.face[1], motorA, motorB, sensor);
                    MoveCube.MoveRel(motorA, MoveCube.CCW90);
                    MoveCube.Move(motorD, MoveCube.GrabArm);
                    MoveCube.Move(motorD, MoveCube.PullArm);
                    MoveCube.Move(motorD, MoveCube.RestArm);
                    break;

                case 3:
                    BuildFace(cube.face[0], motorA, motorB, sensor);
                    cube.face [0].TurnCCWCore();
                    MoveCube.MoveRel(motorA, MoveCube.CW90);
                    MoveCube.Move(motorD, MoveCube.GrabArm);
                    MoveCube.Move(motorD, MoveCube.PullArm);
                    MoveCube.Move(motorD, MoveCube.RestArm);
                    break;

                case 4:
                    BuildFace(cube.face [4], motorA, motorB, sensor);
                    MoveCube.Move(motorD, MoveCube.GrabArm);
                    MoveCube.Move(motorD, MoveCube.PullArm);
                    MoveCube.Move(motorD, MoveCube.RestArm);
                    break;

                case 5:
                    BuildFace(cube.face [5], motorA, motorB, sensor);
                    break;
                }
            }
            for (int i = 0; i < 6; i++)
            {
                faces [i] = cube.face [i].square [1, 1];
            }
            return(faces);
        }
Exemple #7
0
        /*
         * This method controls the movements of the robot to scan the facelets
         * of any single face of the cube.
         */
        public static void BuildFace(Face face, Motor motorA, Motor motorB, EV3ColorSensor sensor)
        {
            RGBColor[] colors = null;
            RGBColor   color  = null;
            Thread     count  = new Thread(() => colors = CountFacelets(motorA, sensor));

            MoveCube.Move(motorB, MoveCube.SensorMid, 15);
            color = sensor.ReadRGB();
            MoveCube.Move(motorB, MoveCube.SensorSide, 15);

            count.Start();
            while (!count.IsAlive)
            {
                ;
            }
            WaitHandle handle = motorA.SpeedProfile((sbyte)100, 0, (uint)360, 0, true);

            handle.WaitOne();
            count.Join();
            MoveCube.Move(motorB, MoveCube.SensorRest, 15);

            char colorvalue = ' ';

            for (int i = 0; i < 9; i++)
            {
                switch (i)
                {
                case 0:
                    colorvalue        = getColorValue(color);
                    face.square[1, 1] = colorvalue;
                    break;

                case 1:
                    color             = colors[0];
                    colorvalue        = getColorValue(color);
                    face.square[2, 1] = colorvalue;
                    break;

                case 3:
                    color             = colors[2];
                    colorvalue        = getColorValue(color);
                    face.square[1, 2] = colorvalue;
                    break;

                case 5:
                    color             = colors[4];
                    colorvalue        = getColorValue(color);
                    face.square[0, 1] = colorvalue;
                    break;

                case 7:
                    color             = colors[6];
                    colorvalue        = getColorValue(color);
                    face.square[1, 0] = colorvalue;
                    break;

                case 2:
                    color             = colors[1];
                    colorvalue        = getColorValue(color);
                    face.square[2, 2] = colorvalue;
                    break;

                case 4:
                    color             = colors[3];
                    colorvalue        = getColorValue(color);
                    face.square[0, 2] = colorvalue;
                    break;

                case 6:
                    color             = colors[5];
                    colorvalue        = getColorValue(color);
                    face.square[0, 0] = colorvalue;
                    break;

                case 8:
                    color             = colors[7];
                    colorvalue        = getColorValue(color);
                    face.square[2, 0] = colorvalue;
                    break;
                }
                Console.WriteLine("Line: {0} Color: {1} RGB code: {2}", i, colorvalue, color);
            }
        }