private static void Main(string[] args)
{
var ipcon = new IPConnection();
ipcon.Connect(HOST, PORT);
_client = new MqttClient(MqttServer, 17124, false, new MqttSslProtocols(), null, null);
_client.Connect(Guid.NewGuid().ToString(), MqttUser, MqttPassword);
var distanceUs1 = new BrickletDistanceUS(Dist1Id, ipcon);
var distanceUs2 = new BrickletDistanceUS(Dist2Id, ipcon);
var CompassBoxBricklet = new BrickletCompass(CompassBox, ipcon);
var CompassRobotBricklet = new BrickletCompass(CompassRobot, ipcon);
while (true)
{
var val1 = CalculateCM(distanceUs1.GetDistanceValue());
var val2 = CalculateCM(distanceUs2.GetDistanceValue());
var boxHeading = CompassBoxBricklet.GetHeading();
var robotHeading = CompassRobotBricklet.GetHeading();
_client.Publish("/mobile/distance",
Encoding.UTF8.GetBytes(
"{\n" +
$"\"robotHeading\":{robotHeading / 10},\n" +
$"\"boxHeading\":{boxHeading / 10},\n" +
$"\"dist1\":{val1},\n" +
$"\"dist2\":{val2}\n" +
"}"),
MqttMsgBase.QOS_LEVEL_EXACTLY_ONCE, false);
Thread.Sleep(500);
}
}
private static string UID = "XYZ"; // Change XYZ to the UID of your Distance US Bricklet
#endregion Fields
#region Methods
static void Main()
{
IPConnection ipcon = new IPConnection(); // Create IP connection
BrickletDistanceUS dus = new BrickletDistanceUS(UID, ipcon); // Create device object
ipcon.Connect(HOST, PORT); // Connect to brickd
// Don't use device before ipcon is connected
// Get current distance value
int distance = dus.GetDistanceValue();
Console.WriteLine("Distance Value: " + distance);
Console.WriteLine("Press enter to exit");
Console.ReadLine();
ipcon.Disconnect();
}
private static string UID = "XYZ"; // Change XYZ to the UID of your Distance US Bricklet
static void Main()
{
IPConnection ipcon = new IPConnection(); // Create IP connection
BrickletDistanceUS dus = new BrickletDistanceUS(UID, ipcon); // Create device object
ipcon.Connect(HOST, PORT); // Connect to brickd
// Don't use device before ipcon is connected
// Get current distance value
int distance = dus.GetDistanceValue();
Console.WriteLine("Distance Value: " + distance);
Console.WriteLine("Press enter to exit");
Console.ReadLine();
ipcon.Disconnect();
}
static void Main()
{
IPConnection ipcon = new IPConnection(); // Create IP connection
BrickletDistanceUS dus = new BrickletDistanceUS(UID, ipcon); // Create device object
ipcon.Connect(HOST, PORT); // Connect to brickd
// Don't use device before ipcon is connected
// Register distance value callback to function DistanceCB
dus.Distance += DistanceCB;
// Set period for distance value callback to 0.2s (200ms)
// Note: The distance value callback is only called every 0.2 seconds
// if the distance value has changed since the last call!
dus.SetDistanceCallbackPeriod(200);
Console.WriteLine("Press enter to exit");
Console.ReadLine();
ipcon.Disconnect();
}
static void Main()
{
IPConnection ipcon = new IPConnection(); // Create IP connection
BrickletDistanceUS dus = new BrickletDistanceUS(UID, ipcon); // Create device object
ipcon.Connect(HOST, PORT); // Connect to brickd
// Don't use device before ipcon is connected
// Register distance value callback to function DistanceCB
dus.DistanceCallback += DistanceCB;
// Set period for distance value callback to 0.2s (200ms)
// Note: The distance value callback is only called every 0.2 seconds
// if the distance value has changed since the last call!
dus.SetDistanceCallbackPeriod(200);
Console.WriteLine("Press enter to exit");
Console.ReadLine();
ipcon.Disconnect();
}
static void Main()
{
IPConnection ipcon = new IPConnection(); // Create IP connection
BrickletDistanceUS dus = new BrickletDistanceUS(UID, ipcon); // Create device object
ipcon.Connect(HOST, PORT); // Connect to brickd
// Don't use device before ipcon is connected
// Get threshold callbacks with a debounce time of 10 seconds (10000ms)
dus.SetDebouncePeriod(10000);
// Register distance value reached callback to function DistanceReachedCB
dus.DistanceReached += DistanceReachedCB;
// Configure threshold for distance value "smaller than 200"
dus.SetDistanceCallbackThreshold('<', 200, 0);
Console.WriteLine("Press enter to exit");
Console.ReadLine();
ipcon.Disconnect();
}
static void Main()
{
IPConnection ipcon = new IPConnection(); // Create IP connection
BrickletDistanceUS dus = new BrickletDistanceUS(UID, ipcon); // Create device object
ipcon.Connect(HOST, PORT); // Connect to brickd
// Don't use device before ipcon is connected
// Get threshold callbacks with a debounce time of 10 seconds (10000ms)
dus.SetDebouncePeriod(10000);
// Register distance value reached callback to function DistanceReachedCB
dus.DistanceReachedCallback += DistanceReachedCB;
// Configure threshold for distance value "smaller than 200"
dus.SetDistanceCallbackThreshold('<', 200, 0);
Console.WriteLine("Press enter to exit");
Console.ReadLine();
ipcon.Disconnect();
}
private static string UID = "XYZ"; // Change XYZ to the UID of your Distance US Bricklet
#endregion Fields
#region Methods
// Callback function for distance value callback
static void DistanceCB(BrickletDistanceUS sender, int distance)
{
Console.WriteLine("Distance Value: " + distance);
}
private static string UID = "XYZ"; // Change XYZ to the UID of your Distance US Bricklet
// Callback function for distance value callback
static void DistanceCB(BrickletDistanceUS sender, int distance)
{
Console.WriteLine("Distance Value: " + distance);
}
