public MainPage()
{
this.InitializeComponent();
Unloaded += MainPage_Unloaded;
ultrasonic = new Sr04UltrasonicDistanceSensor(triggerPinNumber: 12, echoPinNumber: 16);
ultrasonic.RaiseEventsOnUIThread = true;
ultrasonic.DistanceChanged += ultrasonic_DistanceChanged;
led = new MulticolorLed(redPinNumber: 18, greenPinNumber: 23, bluePinNumber: 24);
}
public MainPage()
{
this.InitializeComponent();
ultrasonic = new Sr04UltrasonicDistanceSensor(triggerPinNumber: 12, echoPinNumber: 16);
ultrasonic.DistanceChanged += ultrasonic_DistanceChanged;
}
public MainPage()
{
this.InitializeComponent();
Unloaded += MainPage_Unloaded;
movements = new Dictionary <RoverMovementType, Action>
{
[RoverMovementType.Forward] = () => motors.MoveForward(),
[RoverMovementType.ForwardLeft] = () => motors.MoveForwardLeft(),
[RoverMovementType.ForwardRight] = () => motors.MoveForwardRight(),
[RoverMovementType.Backward] = () => motors.MoveBackward(),
[RoverMovementType.BackwardLeft] = () => motors.MoveBackwardLeft(),
[RoverMovementType.BackwardRight] = () => motors.MoveBackwardRight(),
[RoverMovementType.RotateLeft] = () => motors.RotateLeft(),
[RoverMovementType.RotateRight] = () => motors.RotateRight(),
[RoverMovementType.Stop] = () => motors.Stop(),
};
streamingService = new StreamingService();
httpCameraServer = new HttpCameraServer();
httpCameraServer.OnRequestDataAsync(RequestDataAsync);
connection = new RemoteConnection();
connection.OnRoverMovementEvent(RoverMovementEvent);
socket = new LocalConnection();
socket.OnRoverMovementEvent(RoverMovementEvent);
int motor1Pin1Number, motor1Pin2Number, motor2Pin1Number, motor2Pin2Number;
int redPinNumber, greenPinNumber, bluePinNumber;
int triggerPinNumber, echoPinNumber;
switch (DeviceInformation.Type)
{
case DeviceType.MinnowBoardMax:
motor1Pin1Number = 0;
motor1Pin2Number = 1;
motor2Pin1Number = 2;
motor2Pin2Number = 3;
redPinNumber = 4;
greenPinNumber = 5;
bluePinNumber = 6;
triggerPinNumber = 7;
echoPinNumber = 8;
break;
case DeviceType.Colibri:
motor1Pin1Number = 98;
motor1Pin2Number = 103;
motor2Pin1Number = 97;
motor2Pin2Number = 79;
// On Colibri there's not enough Pin on to be used only via GPIO: don't use Multicolor LED.
redPinNumber = greenPinNumber = bluePinNumber = -1;
triggerPinNumber = 133;
echoPinNumber = 101;
break;
case DeviceType.RaspberryPi2:
case DeviceType.RaspberryPi3:
default:
motor1Pin1Number = 27;
motor1Pin2Number = 22;
motor2Pin1Number = 5;
motor2Pin2Number = 6;
redPinNumber = 18;
greenPinNumber = 23;
bluePinNumber = 24;
triggerPinNumber = 12;
echoPinNumber = 16;
break;
}
var motorDriver = new L298nMotorDriver(motor1Pin1Number, motor1Pin2Number, motor2Pin1Number, motor2Pin2Number);
motors = motorDriver.AsLeftRightMotors();
distanceSensor = new Sr04UltrasonicDistanceSensor(triggerPinNumber, echoPinNumber, mode: ReadingMode.Continuous);
// Checks whether the Pin number for Multicolor LED has been specified.
if (redPinNumber > 0)
{
led = new MulticolorLed(redPinNumber, greenPinNumber, bluePinNumber);
}
random = new Random(unchecked ((int)(DateTime.Now.Ticks)));
}
