public SensorsControllerShorty(IAbstractRobotHardware brick, double _mainLoopCycleMs, string pixyComPort, ISpeaker _speaker)
{
hardwareBrick = brick;
mainLoopCycleMs = _mainLoopCycleMs;
speaker = _speaker;
if (!string.IsNullOrWhiteSpace(pixyComPort))
{
// See C:\Projects\Arduino\Sketchbook\PixyToSerial\PixyToSerial.ino
PixyCameraSensor = new PixyCamera("PixyCamera", pixyComPort, 115200);
}
}
/// <summary>
/// we can create sensors here, but cannot send commands before bridge_CommunicationStarted is called in PluckyTheRobot
/// for example, encoder.Clear() will hang.
/// </summary>
public async Task InitSensors(CancellationTokenSource cts)
{
// see C:\Projects\Serializer_3_0\ExampleApps\AnalogSensorExample\AnalogSensorExample\Form1.cs
// Note: the Element board communicates at 19200 Baud, which is roughly 1.5 kbytes/sec
// Comm link is busy with motor commands and has to be responsive to encoders, for odometry to work.
// Sensors must carefully adjust their demands by setting UpdateFrequency and Enabled properties.
// *********************** infrared rangers:
SensorPose spIrLeft = new SensorPose()
{
XMeters = 0.0d, YMeters = 0.1d, ThetaRadians = Math.PI / 2.0d
};
RangerIrLeft = RangerSensorFactory.produceRangerSensor(RangerSensorFactoryProducts.RangerSensorIR10_80, "IrLeft", spIrLeft,
hardwareBrick, AnalogPinId.A1, rangersSamplingIntervalMs, rangersSensitivityThresholdCm);
RangerIrLeft.distanceChangedEvent += new EventHandler <RangerSensorEventArgs>(RangerDistanceChangedEvent);
RangerSensors.Add(RangerIrLeft.Name, RangerIrLeft);
SensorPose spIrRight = new SensorPose()
{
XMeters = 0.0d, YMeters = -0.1d, ThetaRadians = -Math.PI / 2.0d
};
RangerIrRight = RangerSensorFactory.produceRangerSensor(RangerSensorFactoryProducts.RangerSensorIR10_80, "IrRight", spIrRight,
hardwareBrick, AnalogPinId.A0, rangersSamplingIntervalMs, rangersSensitivityThresholdCm);
RangerIrRight.distanceChangedEvent += new EventHandler <RangerSensorEventArgs>(RangerDistanceChangedEvent);
RangerSensors.Add(RangerIrRight.Name, RangerIrRight);
SensorPose spIrFront = new SensorPose()
{
XMeters = 0.1d, YMeters = 0.0d, ThetaRadians = 0.0d
};
RangerIrFront = RangerSensorFactory.produceRangerSensor(RangerSensorFactoryProducts.RangerSensorIR10_80, "IrFront", spIrFront,
hardwareBrick, AnalogPinId.A3, rangersSamplingIntervalMs, rangersSensitivityThresholdCm);
RangerIrFront.distanceChangedEvent += new EventHandler <RangerSensorEventArgs>(RangerDistanceChangedEvent);
RangerSensors.Add(RangerIrFront.Name, RangerIrFront);
SensorPose spIrRear = new SensorPose()
{
XMeters = -0.1d, YMeters = 0.0d, ThetaRadians = Math.PI
};
RangerIrRear = RangerSensorFactory.produceRangerSensor(RangerSensorFactoryProducts.RangerSensorIR10_80, "IrRear", spIrRear,
hardwareBrick, AnalogPinId.A2, rangersSamplingIntervalMs, rangersSensitivityThresholdCm);
RangerIrRear.distanceChangedEvent += new EventHandler <RangerSensorEventArgs>(RangerDistanceChangedEvent);
RangerSensors.Add(RangerIrRear.Name, RangerIrRear);
// *********************** ultrasonic rangers:
SensorPose spSonarLeft = new SensorPose()
{
XMeters = 0.1d, YMeters = 0.05d, ThetaRadians = Math.PI / 6.0d
};
RangerSonarLeft = RangerSensorFactory.produceRangerSensor(RangerSensorFactoryProducts.RangerSensorSonar, "SonarLeft", spSonarLeft,
hardwareBrick, GpioPinId.Pin4, GpioPinId.Pin5, rangersSamplingIntervalMs, rangersSensitivityThresholdCm);
RangerSonarLeft.distanceChangedEvent += new EventHandler <RangerSensorEventArgs>(RangerDistanceChangedEvent);
RangerSensors.Add(RangerSonarLeft.Name, RangerSonarLeft);
SensorPose spSonarRight = new SensorPose()
{
XMeters = 0.1d, YMeters = -0.05d, ThetaRadians = -Math.PI / 6.0d
};
RangerSonarRight = RangerSensorFactory.produceRangerSensor(RangerSensorFactoryProducts.RangerSensorSonar, "SonarRight", spSonarRight,
hardwareBrick, GpioPinId.Pin2, GpioPinId.Pin3, rangersSamplingIntervalMs, rangersSensitivityThresholdCm);
RangerSonarRight.distanceChangedEvent += new EventHandler <RangerSensorEventArgs>(RangerDistanceChangedEvent);
RangerSensors.Add(RangerSonarRight.Name, RangerSonarRight);
// *********************** wheel encoders - roughly 500 ticks per wheel revolution, 1200 ticks per meter.
encoderLeft = CreateWheelEncoder(hardwareBrick, WheelEncoderId.Encoder2, (int)mainLoopCycleMs, encodersSensitivityThresholdTicks);
encoderRight = CreateWheelEncoder(hardwareBrick, WheelEncoderId.Encoder1, (int)mainLoopCycleMs, encodersSensitivityThresholdTicks);
Compass = hardwareBrick.produceCompassCMPS03(0x60, CompassSamplingIntervalMs, CompassSensitivityThreshold);
Compass.HeadingChanged += new HardwareComponentEventHandler(Compass_HeadingChanged);
// arduino based AHRS - PWM DAC to pin 4:
Ahrs = hardwareBrick.produceAnalogSensor(AnalogPinId.A4, CompassSamplingIntervalMs, CompassSensitivityThreshold);
Ahrs.AnalogValueChanged += new HardwareComponentEventHandler(Ahrs_ValueChanged);
// arduino based AHRS - I2C does not connect:
//Ahrs = new I2CDevice(hardwareBrick);
//Ahrs.I2CAddress = 173; // The Wire library uses 7 bit addresses throughout.
// // If you have a datasheet or sample code that uses 8 bit address, you'll want to drop the low bit (i.e. shift the value one bit to the right),
// // yielding an address between 0 and 127. However the addresses from 0 to 7 are not used because are reserved so the first address that can be used is 8.
//Ahrs.WriteCommand = "234";
//Ahrs.ReadCommand = "6";
if (PixyCameraSensor != null)
{
try
{
await PixyCameraSensor.Open(cts);
PixyCameraSensor.TargetingCameraTargetsChanged += PixyCameraSensor_PixyCameraBlocksChanged;
}
catch (Exception exc)
{
speaker.Speak("Could not open Pixy Camera at " + PixyCameraSensor.ComPortName);
PixyCameraSensor = null;
}
}
batteryVoltage = CreateBatteryVoltageMeter(hardwareBrick, batterySamplingIntervalMs, batterySensitivityThresholdVolts);
batteryVoltage.Enabled = true; // slow update rate, leave it turned on
IrRangersEnabled = true; // if false, do not sample or update
SonarsEnabled = false; // will enable sonars with an interval 50ms to avoid interference
EncodersEnabled = true;
//CompassEnabled = true; // compass no good inside concrete buildings, use gyro instead
CompassEnabled = false;
Ahrs.Enabled = true;
if (PixyCameraSensor != null)
{
PixyCameraSensor.Enabled = true;
}
currentSensorsData = new SensorsDataShorty()
{
RangerSensors = this.RangerSensors
};
}
public override void RobotInit()
{
Pixy = new PixyCamera();
Pixy.Initialize();
SmartDashboard.PutBoolean("Pixy Status", Pixy.IsConnected);
}
