public static void Main()
{
SDCard sdCard = new SDCard();
//todo: need sdCard mode detection
ILogger logger = new PersistenceWriter(new FileStream(@"\SD\telemetry.bin", FileMode.CreateNew), new TelemetryFormatter());
//ILogger logger = new DebugLogger(); // use for debugging
//ILogger logger = new NullLogger(); // use for release
//Assumes one type of speed controller on quad
//ISpeedControllerSettings speedControllerSettings = new HobbyKingSs2530Settings();
//IPWM pwmFront = new SecretLabsPWM(Pins.GPIO_PIN_D9);
//SpeedController electricSpeedControllerFront = new SpeedController(speedControllerSettings, pwmFront);
//IPWM pwmRear = new SecretLabsPWM(Pins.GPIO_PIN_D8);
//SpeedController electricSpeedControllerRear = new SpeedController(speedControllerSettings, pwmRear);
//IPWM pwmRight = new SecretLabsPWM(Pins.GPIO_PIN_D8);
//SpeedController electricSpeedControllerRight = new SpeedController(speedControllerSettings, pwmRight);
//IPWM pwmLeft = new SecretLabsPWM(Pins.GPIO_PIN_D8);
//SpeedController electricSpeedControllerLeft = new SpeedController(speedControllerSettings, pwmLeft);
MotorMixer mixer = null;
PIDSettings[] pidSettings = GetPIDSettings();
AxesController axesController = new AxesController(pidSettings[0], pidSettings[1], pidSettings[2], true);
Gyro gyro = new DefaultGyro(new AircraftPrincipalAxes());
Radio radio = new DefaultRadio(null, null);
ControllerLoopSettings loopSettings = GetLoopSettings();
Controller controller = new Controller(mixer, axesController, gyro, radio, loopSettings, GetMotorSettings(), logger);
}
public override void SerializeChildren(PersistenceWriter op)
{
for (int i = 0; i < m_Values.Count; ++i)
{
m_Values[i].Serialize(op);
}
}
public void Serialize(PersistenceWriter op)
{
op.BeginObject(TypeID);
SerializeAttributes(op);
op.BeginChildren();
SerializeChildren(op);
op.FinishChildren();
op.FinishObject();
}
/// <summary>
/// Save an already trained model
/// </summary>
/// <param name="writer"></param>
protected override void SaveContent(PersistenceWriter writer)
{
writer.OpenScope((PersistItemTag)Persistent.Parameters);
writer.SetValue(C);
writer.SetValue(cacheSize);
writer.SetValue(maximumInput);
writer.SetValue(lowerOrder);
writer.SetValue(exponent);
writer.SetValue(gamma);
writer.SetValue(strKernelType);
writer.CloseScope();
writer.OpenScope((PersistItemTag)Persistent.Classifiers);
writer.SetValue(classifiers.Length);
for (int i = 0; i < classifiers.Length; i++)
{
for (int j = i + 1; j < classifiers.Length; j++)
{
writer.SetValue(classifiers[i][j].b);
writer.SetValue(classifiers[i][j].kernel.data.instances.Length);
for (int x = 0; x < classifiers[i][j].kernel.data.instances.Length; x++)
{
writer.SetValue(classifiers[i][j].kernel.data.instances[x].positions.Length);
for (int y = 0; y < classifiers[i][j].kernel.data.instances[x].positions.Length; y++)
{
writer.SetValue(classifiers[i][j].kernel.data.instances[x].positions[y]);
writer.SetValue(classifiers[i][j].kernel.data.instances[x].values[y]);
}
writer.SetValue(classifiers[i][j].kernel.data.instances[x].label);
}
writer.SetValue(classifiers[i][j].supportVectors.Count);
foreach (int sup in classifiers[i][j].supportVectors)
{
writer.SetValue(sup);
}
writer.SetValue(classifiers[i][j].alpha.Length);
for (int x = 0; x < classifiers[i][j].alpha.Length; x++)
{
writer.SetValue(classifiers[i][j].alpha[x]);
}
writer.SetValue(classifiers[i][j].labels.Length);
for (int x = 0; x < classifiers[i][j].labels.Length; x++)
{
writer.SetValue(classifiers[i][j].labels[x]);
}
}
}
writer.CloseScope();
}
public override void SerializeChildren(PersistenceWriter op)
{
for (int i = 0; i < m_Columns.Count; ++i)
{
m_Columns[i].Serialize(op);
}
for (int i = 0; i < m_Items.Count; ++i)
{
m_Items[i].Serialize(op);
}
}
public static void Main()
{
Motor testMotor = new TestMotor();
MotorMixer mixer = new QuadMixer(testMotor, testMotor, testMotor, testMotor);
ILogger logger = new PersistenceWriter(new MemoryStream(), new TelemetryFormatter());
Gyro gyro = new TestGyro();
Radio radio = new TestRadio();
PIDSettings[] pidSettings = GetPIDSettings();
AxesController axesController = new AxesController(pidSettings[0], pidSettings[1], pidSettings[2], true);
ControllerLoopSettings loopSettings = GetLoopSettings();
Controller controller = new Controller(mixer, axesController, gyro, radio, loopSettings, GetMotorSettings(), logger);
}
public ThreadingProgram()
{
Gyro gyro = new TestGyro();
Sensors sensors = new Sensors(gyro);
Motor testMotor = new TestMotor();
MotorMixer mixer = new QuadMixer(testMotor, testMotor, testMotor, testMotor);
ILogger logger = new PersistenceWriter(new MemoryStream(), new TelemetryFormatter());
Radio radio = new TestRadio();
PIDSettings[] pidSettings = GetPIDSettings();
AxesController axesController = new AxesController(pidSettings[0], pidSettings[1], pidSettings[2], true);
_loopSettings = GetLoopSettings();
Timer sensorTimer = new Timer(tester, sensors, new TimeSpan(0), new TimeSpan((long)_loopSettings.SensorLoopFrequency));
}
public static void Main()
{
//Initialize motors first
MotorSettings motorSettings = GetMotorSettings();
Motor frontMotor = new PWMMotor(new PWM((Cpu.Pin)FezPin.PWM.Di8, 4000000), motorSettings);
Motor rearMotor = new PWMMotor(new PWM((Cpu.Pin)FezPin.PWM.Di10, 4000000), motorSettings);
Motor leftMotor = new PWMMotor(new PWM((Cpu.Pin)FezPin.PWM.Di9, 4000000), motorSettings);
Motor rightMotor = new PWMMotor(new PWM((Cpu.Pin)FezPin.PWM.Di6, 4000000), motorSettings);
MotorMixer mixer = new QuadMixer(frontMotor, rearMotor, leftMotor, rightMotor);
//Telemetry
ISDCard sdCard = (ISDCard) new SDCard();
if (Configuration.DebugInterface.GetCurrent() == Configuration.DebugInterface.Port.USB1)
{
sdCard.MountFileSystem();
}
else
{
new TelemetryPresenter(sdCard, (Cpu.Pin)FezPin.Digital.LED);
}
ILogger logger = new PersistenceWriter(new FileStream(@"\SD\telemetry.bin", FileMode.OpenOrCreate), new TelemetryFormatter());
//Sensors
I2CBus twiBus = new I2CBus();
Gyro gyro = new ITG3200(twiBus, GetGyroFactor());
Radio radio = new DefaultRadio(twiBus, GetRadioSettings());
//Control Algoriths
PIDSettings[] pidSettings = GetPIDSettings();
AxesController axesController = new AxesController(pidSettings[0], pidSettings[1], pidSettings[2], true);
ControllerLoopSettings loopSettings = GetLoopSettings();
Controller controller = new Controller(mixer, axesController, gyro, radio, loopSettings, GetMotorSettings(), logger);
//controller.Start();
}
public override void SerializeAttributes(PersistenceWriter op)
{
op.SetString("n", m_Name);
op.SetString("w", m_Width);
}
public override void SerializeAttributes(PersistenceWriter op)
{
op.SetString("n", m_Name);
op.SetInt32("v", m_Value);
}
public override void SerializeAttributes(PersistenceWriter op)
{
base.SerializeAttributes(op);
op.SetBoolean("p", m_ShowPercents);
}
public override void SerializeAttributes(PersistenceWriter op)
{
op.SetString("v", m_Value);
op.SetString("f", m_Format);
}
public virtual void SerializeAttributes(PersistenceWriter op)
{
}
public virtual void SerializeChildren(PersistenceWriter op)
{
}
