public MainPage()
{
this.InitializeComponent();
// Initialize Motor Driver Pins
MotorDriver.InitializePins(MotorDriver.AvailableGpioPin.GpioPin_5, MotorDriver.AvailableGpioPin.GpioPin_6, MotorDriver.AvailableGpioPin.GpioPin_13, MotorDriver.AvailableGpioPin.GpioPin_26);
// Initialize MyRecognizer and Load Grammar
InitializeSpeechRecognizer();
// Initialize front distance sensor
Sensor.UltrasonicDistanceSensor Front_DistanceSensor = new Sensor.UltrasonicDistanceSensor(Sensor.UltrasonicDistanceSensor.AvailableGpioPin.GpioPin_12, Sensor.UltrasonicDistanceSensor.AvailableGpioPin.GpioPin_16);
// Initialize ObstacleDetection object
Sensor.ObstacleDetection Front_ObstacleDetection = new Sensor.ObstacleDetection(Front_DistanceSensor);
Front_ObstacleDetection.ObstacleDetected += Front_ObstacleDetection_ObstacleDetected;
}
public ObstacleDetection(UltrasonicDistanceSensor _Sensor, int ScanResolutionInMs = 100)
{
// initialize CurrentDistance to zero
double CurrentDistanceInCm = 0;
// Create a separate Task to scan distance between obstacle and sensor
Task.Factory.StartNew(async() =>
{
// Loop infinity until the power is down
while (true)
{
// Verify current distance ahead and raise event if MinDistance distance is breached
if ((CurrentDistanceInCm = _Sensor.GetDistance()) <= MinDistance && CurrentState == DetectionState.Clear)
{
// Raise event only if it is not null
if (ObstacleDetected != null)
{
ObstacleDetected(DetectionState.Detected, CurrentDistanceInCm);
}
// Set current state
CurrentState = DetectionState.Detected;
}
else if (CurrentDistanceInCm > MinDistance && CurrentState == DetectionState.Detected) // Raise event if distance between object and sensor is greater than MinDistance
{
// Raise event only if it is not null
if (ObstacleDetected != null)
{
ObstacleDetected(DetectionState.Clear, CurrentDistanceInCm);
}
// Set current state
CurrentState = DetectionState.Clear;
}
// Wait for the next scan time
await Task.Delay(ScanResolutionInMs);
}
});
}
