static void Scan(AUTD3Cnt autd, PicoCnt pico, Conditions cond, string prefix, bool trig, Action <AUTD3Cnt, int> func, bool compress = false)
{
var dataFolder = Utils.CreateFolderTimeStamped(prefix);
cond.Save(dataFolder);
for (int i = 0; i <= byte.MaxValue; i++)
{
Console.Write("{0}: {1, 3:d0}/{2, 3:d0} ({3, 3:f0}%)", prefix, i, byte.MaxValue, 100.0 * i / byte.MaxValue);
Console.SetCursorPosition(0, Console.CursorTop);
func(autd, i);
Thread.Sleep(500);
pico.MeasureAndSave(trig, Path.Join(dataFolder, $"{prefix}{i}"), compress);
autd.TransTest(0, 0, 0);
Thread.Sleep(60 * 1000);
}
Console.WriteLine();
autd.Stop();
}
static void Main(string[] args)
{
int NUM_AUTD_X = 3;
int NUM_AUTD_Y = 3;
float W = 192f;
float H = 151.4f;
float xc = W * NUM_AUTD_X / 2f;
float yc = H * NUM_AUTD_Y / 2f;
float Z = 200;
var compress = true;
var cond = new Conditions()
{
SampleRateHz = 10_000_000,
SampleLen = 10_000,
Temp = 22.8f,
Humidity = 13f,
Amplifer = 10,
X = 0,
Y = 0,
Z = Z
};
using var robo = new RobotController();
if (!robo.Connect("172.16.99.57"))
{
Console.WriteLine("Failed to connect to robot.");
return;
}
robo.MoveTo(0, 0, Z);
using var pico = new PicoCnt();
pico.SetChannel(0, 50, 1, null);
pico.SetChannel(1, 5000, 10, 1000);
pico.SetCondition(cond);
using var autd = new AUTD3Cnt();
for (int y = 0; y < NUM_AUTD_Y; y++)
{
for (int x = 0; x < NUM_AUTD_X; x++)
{
autd.AddDevice(x * W, y * H, 0);
}
}
var ifname = AUTD3Cnt.GetIfname();
autd.Open(ifname);
autd.Clear();
autd.Calibrate();
autd.StaticMod(0xFF);
Scan(autd, 10, pico, robo, cond, NUM_AUTD_X, NUM_AUTD_Y, Z, compress);
Console.WriteLine("Finish.");
autd.Stop();
robo.Finish();
}
}