public static void Main(string[] args)
{
EventWaitHandle stopped = new ManualResetEvent(false);
ColorMode[] modes = { ColorMode.Color, ColorMode.Reflection, ColorMode.Ambient, ColorMode.Blue };
int modeIdx = 0;
var sensor = new EV3ColorSensor(SensorPort.In1);
ButtonEvents buts = new ButtonEvents();
LcdConsole.WriteLine("Use color on port1");
LcdConsole.WriteLine("Up read value");
LcdConsole.WriteLine("Down raw value");
LcdConsole.WriteLine("Enter change mode");
LcdConsole.WriteLine("Esc. terminate");
buts.EscapePressed += () => {
stopped.Set();
};
buts.UpPressed += () => {
LcdConsole.WriteLine("Sensor value: " + sensor.ReadAsString());
};
buts.DownPressed += () => {
LcdConsole.WriteLine("Raw sensor value: " + sensor.ReadRaw());
};
buts.EnterPressed += () => {
modeIdx = (modeIdx + 1) % modes.Length;
sensor.Mode = modes[modeIdx];
LcdConsole.WriteLine("Sensor mode is set to: " + modes[modeIdx]);
};
stopped.WaitOne();
}
private async Task TestEV3Color()
{
//brick.Stop();
//brick.SetTimeout(250);
EV3ColorSensor nxtlight = new EV3ColorSensor(BrickPortSensor.PORT_S4, ColorSensorMode.Reflection);
EV3TouchSensor touch = new EV3TouchSensor(BrickPortSensor.PORT_S1);
//brick.Stop();
//brick.SetupSensors();
RGBColor rgb;
await Task.Delay(5000);
for (int i = 0; i < nxtlight.NumberOfModes(); i++)
{
int count = 0;
while ((count < 100) && !touch.IsPressed())
{
//Debug.WriteLine(string.Format("NXT Touch, Raw: {0}, ReadASString: {1}, IsPressed: {2}, NumberNodes: {3}, SensorName: {4}", touch.ReadRaw(), touch.ReadAsString(), touch.IsPressed(), touch.NumberOfModes(), touch.GetSensorName()));
//Debug.WriteLine(string.Format("EV3 Touch, Raw: {0}, ReadASString: {1}, IsPressed: {2}, NumberNodes: {3}, SensorName: {4}", ev3Touch.ReadRaw(), ev3Touch.ReadAsString(), ev3Touch.IsPressed(), ev3Touch.NumberOfModes(), ev3Touch.GetSensorName()));
//Debug.WriteLine(string.Format("NXT Sound, Raw: {0}, ReadASString: {1}, NumberNodes: {2}, SensorName: {3}", sound.ReadRaw(), sound.ReadAsString(), sound.NumberOfModes(), sound.GetSensorName()));
//brick.UpdateValues();
Debug.WriteLine(string.Format("EV3 Color Sensor, Raw: {0}, ReadASString: {1}",
nxtlight.ReadRaw(), nxtlight.ReadAsString()));
rgb = nxtlight.ReadRGBColor();
Debug.WriteLine(string.Format("Color: {0}, Red: {1}, Green: {2}, Blue: {3}",
nxtlight.ReadColor(), rgb.Red, rgb.Green, rgb.Blue));
//brick.Stop();
//brick.Start();
//nxtlight.ColorMode = ColorSensorMode.Ambient;
await Task.Delay(1000);
//if ((touch.IsPressed()) && ev3Touch.IsPressed())
count++;
//nxtlight.ColorMode = ColorSensorMode.Color;
}
if (nxtlight.ColorMode == ColorSensorMode.Reflection)
{
nxtlight.ColorMode = ColorSensorMode.Color;
}
else
{
nxtlight.ColorMode = ColorSensorMode.Reflection;
}
//brick.SetupSensors();
await Task.Delay(5000);
}
}
static private void TestEV3Color()
{
Console.WriteLine("EV3 sensor color test mode");
EV3ColorSensor nxtlight = new EV3ColorSensor(_brick, SensorPort.Port2, ColorSensorMode.Green);
EV3TouchSensor touch = new EV3TouchSensor(_brick, SensorPort.Port1);
RGBColor rgb;
Thread.Sleep(5000);
for (int i = 0; i < nxtlight.NumberOfModes(); i++)
{
int count = 0;
while ((count < 100) && !touch.IsPressed())
{
Console.WriteLine($"EV3 Color Sensor, Raw: {nxtlight.ReadRaw()}, ReadASString: {nxtlight.ReadAsString()}");
rgb = nxtlight.ReadRGBColor();
Console.WriteLine($"Color: {nxtlight.ReadColor()}, Red: {rgb.Red}, Green: {rgb.Green}, Blue: {rgb.Blue}");
Thread.Sleep(1000);
count++;
}
nxtlight.SelectNextMode();
Thread.Sleep(5000);
}
}
static void Main(string[] args)
{
ButtonEvents buttons = new ButtonEvents();
TcpListener server = null;
TcpClient client = null;
bool run = true;
buttons.EscapePressed += () =>
{
if (server != null)
{
server.Stop();
}
if (client != null)
{
client.Close();
}
run = false;
};
Log("KinematicServer 1.5");
float mainRatio = 46.667f;
float secondaryRatio = 40.0f;
float handRatio = 8f;
#if DUMPLOGS
StringBuilder logs = new StringBuilder();
#endif
using (RobotMotors motors = new RobotMotors(MotorPort.OutA, MotorPort.OutB, MotorPort.OutC)
{
MainMotorRatio = mainRatio, SecondaryMotorRatio = secondaryRatio, HandMotorRatio = handRatio
})
{
EV3TouchSensor sensor1 = new EV3TouchSensor(SensorPort.In1);
EV3ColorSensor sensor2 = new EV3ColorSensor(SensorPort.In2);
sensor2.Mode = ColorMode.Reflection;
int sensor2max = -1;
int pause = 0;
buttons.EnterReleased += () =>
{
pause++;
};
int currentPause = 0;
motors.Calibrate((RobotMotors.CalibrationSteps step) =>
{
if (!run)
{
return(true);
}
switch (step)
{
case RobotMotors.CalibrationSteps.Main:
if (sensor1.IsPressed())
{
return(true);
}
break;
case RobotMotors.CalibrationSteps.Pause:
if (currentPause != pause)
{
currentPause = pause;
return(true);
}
break;
case RobotMotors.CalibrationSteps.Secondary:
int sensor2reading = sensor2.ReadRaw();
if (sensor2reading > 19 &&
sensor2reading < sensor2max) // moving away from sweet spot (but remove noise)
{
#if DUMPLOGS
logs.Append(string.Format("{0}:{1}:{2}\n\n", motors.GetRawTacho(MotorPort.OutB), sensor2reading, sensor2max));
logs.Append("-----------------\n\n");
#endif
return(true);
}
else if (sensor2reading > sensor2max)
{
sensor2max = sensor2reading; // keep going when it increases
}
#if DUMPLOGS
logs.Append(string.Format("{0}:{1}:{2}\n\n", motors.GetRawTacho(MotorPort.OutB), sensor2reading, sensor2max));
#endif
break;
case RobotMotors.CalibrationSteps.SecondaryReset:
sensor2max = -1;
#if DUMPLOGS
logs.Append("***********************\n\n");
#endif
break;
}
/*
* Lcd.Clear();
* int line = 0;
* Lcd.WriteText(Font.MediumFont, new Point(0, line), "Calibrating...", true);
* line += (int)(Font.MediumFont.maxHeight);
* Lcd.WriteText(Font.MediumFont, new Point(0, line), string.Format("Refl.: {0} / {1}", sensor2.ReadRaw(), sensor2max), true);
* line += (int)(Font.MediumFont.maxHeight);
* Lcd.WriteText(Font.MediumFont, new Point(0, line), string.Format("A: {0}", motors.GetRawTacho(MotorPort.OutA)), true);
* line += (int)(Font.MediumFont.maxHeight);
* Lcd.WriteText(Font.MediumFont, new Point(0, line), string.Format("B: {0}", motors.GetRawTacho(MotorPort.OutB)), true);
* line += (int)(Font.MediumFont.maxHeight);
* Lcd.Update();
*/
return(false);
});
}
// stop here
if (!run)
{
return;
}
// main loop
Lcd.Clear();
Lcd.Update();
Log("Starting...");
try
{
using (RobotMotors motors = new RobotMotors(MotorPort.OutA, MotorPort.OutB, MotorPort.OutC)
{
MainMotorRatio = mainRatio, SecondaryMotorRatio = secondaryRatio, HandMotorRatio = handRatio
})
{
// Set the TcpListener on port 13000.
Int32 port = 13000;
// TcpListener server = new TcpListener(port);
server = new TcpListener(IPAddress.Any, port);
// Start listening for client requests.
server.Start();
// Buffer for reading data
Byte[] bytes = new Byte[256];
String data = null;
// Enter the listening loop.
while (run)
{
Log("Waiting for a connection... ");
// Perform a blocking call to accept requests.
// You could also user server.AcceptSocket() here.
client = server.AcceptTcpClient();
Log("Connected!");
#if DUMPLOGS
// DEBUG
byte[] logBuffer = Encoding.ASCII.GetBytes(logs.ToString());
client.GetStream().Write(logBuffer, 0, logBuffer.Length);
#endif
motors.MainMotorSpeed = 64;
motors.SecondaryMotorSpeed = 64;
motors.HandMotorSpeed = 127;
data = null;
// Get a stream object for reading and writing
NetworkStream stream = client.GetStream();
int read;
string message = "";
// Loop to receive all the data sent by the client.
int commandCount = 0;
while (run && (read = stream.Read(bytes, 0, bytes.Length)) != 0)
{
// Translate data bytes to a ASCII string.
data = System.Text.Encoding.ASCII.GetString(bytes, 0, read);
for (int i = 0; i < read; i++)
{
char c = data[i];
if (c != '\0')
{
message += c;
}
else
{
String[] rawCommand = message.Split(';');
// get message type
switch (rawCommand[0])
{
case "UP":
motors.Queue(new HandCommand(true));
commandCount = 0;
break;
case "DWN":
motors.Queue(new HandCommand(false));
commandCount = 0;
break;
case "MOV":
commandCount++;
float mainRotation = float.Parse(rawCommand[1]);
float secondaryRotation = float.Parse(rawCommand[2]);
motors.Queue(
new MoveCommand {
MainRotation = (int)Math.Round(mainRotation, MidpointRounding.AwayFromZero),
SecondaryRotation = (int)Math.Round(secondaryRotation, MidpointRounding.AwayFromZero)
});
break;
}
//
Lcd.Clear();
int line = 0;
Lcd.WriteText(Font.MediumFont, new Point(0, line), string.Format("Count: {0}", commandCount), true);
line += (int)(Font.MediumFont.maxHeight);
Lcd.WriteText(Font.MediumFont, new Point(0, line), string.Format("Last: {0}", message), true);
line += (int)(Font.MediumFont.maxHeight);
Lcd.Update();
//
message = "";
}
}
}
}
}
}
catch (Exception ex)
{
Log(ex.Message);
if (client.Connected)
{
byte[] buffer = Encoding.ASCII.GetBytes(ex.Message);
client.GetStream().Write(buffer, 0, buffer.Length);
}
throw;
}
finally
{
// Stop listening for new clients.
server.Stop();
}
}
public static void Main(string[] args)
{
//AutoFin->false
ManualResetEvent terminateProgram = new ManualResetEvent(false);
//Motor_Rady
LcdConsole.WriteLine("***Motor_Rady***");
Motor motorA = new Motor(MotorPort.OutA);
Motor motorD = new Motor(MotorPort.OutD);
motorA.Off();
motorD.Off();
motorA.ResetTacho();
motorD.ResetTacho();
//Vehicle_Rady
Vehicle vehicle = new Vehicle(MotorPort.OutA, MotorPort.OutD);
WaitHandle waitHandle;
vehicle.ReverseLeft = false;
vehicle.ReverseRight = false;
int b = 0;
//Sensor_Rady
LcdConsole.WriteLine("***Sensor_Rady***");
//Touch_Rady
var touchSensor1 = new EV3TouchSensor(SensorPort.In1);
var touchSensor2 = new EV3TouchSensor(SensorPort.In4);
//UltraSonic_Rady
var UltraSonicSensor = new EV3UltrasonicSensor(SensorPort.In3, UltraSonicMode.Centimeter);
//Color_Rady
EventWaitHandle stopped = new ManualResetEvent(false);
ColorMode[] modes = { ColorMode.Color, ColorMode.Reflection, ColorMode.Ambient, ColorMode.Blue };
int modeIdx = 0;
var sensor = new EV3ColorSensor(SensorPort.In2, ColorMode.Reflection);
//Conection
LcdConsole.WriteLine("***Conect_Rady***");
//Http
Encoding enc = Encoding.UTF8;
string input = "Detect";
string url = "http://nursinghomeexplorer.azurewebsites.net/index.php";
string param = "";
//
Hashtable ht = new Hashtable();
ht["langpair"] = "#ja";
ht["hl"] = "en";
ht["text"] = HttpUtility.UrlEncode(input, enc);
foreach (string k in ht.Keys)
{
param += String.Format("{0}={1}&", k, ht[k]);
}
byte[] data = Encoding.ASCII.GetBytes(param);
//
HttpWebRequest req = (HttpWebRequest)WebRequest.Create(url);
req.Method = "POST";
req.ContentType = "application/x-www-form-urlencoded";
req.ContentLength = data.Length;
LcdConsole.WriteLine("***Conected!***");
//timer set
System.Diagnostics.Stopwatch sw = new System.Diagnostics.Stopwatch();
long a = 0;
//buts
ButtonEvents buts = new ButtonEvents();
LcdConsole.WriteLine("Up read BrightLine");
LcdConsole.WriteLine("Down read Floor");
//LcdConsole.WriteLine ("Left Exit program");
//LcdConsole.WriteLine ("Right Exit program");
LcdConsole.WriteLine("Enter change color mode");
LcdConsole.WriteLine("Esc. StartRun");
buts.UpPressed += () =>
{
LcdConsole.WriteLine("Sensor value: " + sensor.ReadAsString());
};
buts.DownPressed += () =>
{
LcdConsole.WriteLine("Raw sensor value: " + sensor.ReadRaw());
};
buts.EnterPressed += () =>
{
modeIdx = (modeIdx + 1) % modes.Length;
sensor.Mode = modes[modeIdx];
LcdConsole.WriteLine("Sensor mode is set to: " + modes[modeIdx]);
};
//Left_Finish
buts.LeftPressed += () => {
terminateProgram.Set();
};
//Escape_StartRun
buts.EscapePressed += () =>
{
LcdConsole.WriteLine("***StartRun***");
stopped.Set();
//loop_run on the line
while (true)
{
//touchsensor2 Pressed
if (touchSensor2.IsPressed() == true)
{
//motors stop
motorA.Brake();
motorD.Brake();
LcdConsole.WriteLine("***Stop***");
//timer start
sw.Start();
//after 5sec
Thread.Sleep(5000);
a = sw.ElapsedMilliseconds;
LcdConsole.WriteLine("***Stop_5sec***");
if (a >= 5000)
{
//timer stop
a = 0;
sw.Stop();
sw.Reset();
if (touchSensor2.IsPressed() == true)
{
LcdConsole.WriteLine("***Stop_ISPressed2***");
//
Stream reqStream = req.GetRequestStream();
LcdConsole.WriteLine("***Stop_GetReqStream***");
reqStream.Write(data, 0, data.Length);
LcdConsole.WriteLine("***Stop_write***");
reqStream.Close();
LcdConsole.WriteLine("***Stop_reqStream.close***");
break;
}
if (touchSensor1.IsPressed() == true)
{
//
Stream reqStream = req.GetRequestStream();
reqStream.Write(data, 0, data.Length);
reqStream.Close();
break;
}
}
else
{
continue;
}
}
//touchsensor1 pressed
if (touchSensor1.IsPressed() == true)
{
motorA.Brake();
motorD.Brake();
LcdConsole.WriteLine("***Stop***");
//timer start
sw.Start();
//after 5sec
Thread.Sleep(5000);
a = sw.ElapsedMilliseconds;
if (a >= 5000)
{
//timer stop
a = 0;
sw.Stop();
sw.Reset();
if (touchSensor1.IsPressed() == true)
{
//
Stream reqStream = req.GetRequestStream();
reqStream.Write(data, 0, data.Length);
reqStream.Close();
break;
}
if (touchSensor2.IsPressed() == true)
{
//
Stream reqStream = req.GetRequestStream();
reqStream.Write(data, 0, data.Length);
reqStream.Close();
break;
}
}
else
{
continue;
}
}
//Ultrasonic on
if (UltraSonicSensor.Read() <= 30)
{
motorA.Brake();
motorD.Brake();
LcdConsole.WriteLine("***Stop***");
//timer start
sw.Start();
//after 5sec
Thread.Sleep(5000);
a = sw.ElapsedMilliseconds;
if (a >= 5000)
{
//timer stop
a = 0;
sw.Stop();
sw.Reset();
if (UltraSonicSensor.Read() <= 30)
{
//
Stream reqStream = req.GetRequestStream();
reqStream.Write(data, 0, data.Length);
reqStream.Close();
break;
}
}
else
{
continue;
}
}
b = sensor.Read();
if (b < 15)
{
vehicle.TurnRightForward(10, 100);
}
if (15 <= b && b < 60)
{
vehicle.TurnLeftForward(10, 60);
}
if (b >= 60)
{
waitHandle = vehicle.Forward(10, 0, true);
}
}
};
terminateProgram.WaitOne();
buts.LeftPressed += () => {
terminateProgram.Set();
};
}