static void TestTinyBit()
{
var buzzerController = PwmController.FromName(FEZBit.PwmChannel.Controller3.Id);
var buzzerChannel = buzzerController.OpenChannel(FEZBit.PwmChannel.Controller3.EdgeP0Channel);
var lineDetectLeft = GpioController.GetDefault().OpenPin(FEZBit.GpioPin.EdgeP13);
var lineDetectRight = GpioController.GetDefault().OpenPin(FEZBit.GpioPin.EdgeP14);
var voiceSensor = AdcController.FromName(FEZBit.AdcChannel.Controller1.Id).OpenChannel(FEZBit.AdcChannel.Controller1.EdgeP1);
var p2remove = GpioController.GetDefault().OpenPin(FEZBit.GpioPin.EdgeP1);
var distanceTrigger = GpioController.GetDefault().OpenPin(FEZBit.GpioPin.EdgeP16);
var distanceEcho = GpioController.GetDefault().OpenPin(FEZBit.GpioPin.EdgeP15);
p2remove.SetDriveMode(GpioPinDriveMode.Input);
var bot = new TinyBitController(
I2cController.FromName(FEZBit.I2cBus.Edge),
buzzerChannel,
voiceSensor,
lineDetectLeft, lineDetectRight, distanceTrigger, distanceEcho,
FEZBit.GpioPin.EdgeP12
);
bot.SetHeadlight(30, 100, 100);
bot.SetColorLeds(1, 200, 0, 0);
bot.SetMotorSpeed(0.5, 0.5);
bot.SetMotorSpeed(0.5, -0.5);
bot.SetMotorSpeed(-0.5, 0.5);
bot.SetMotorSpeed(0, 0);
while (true)
{
var l = bot.ReadLineSensor(true);
var r = bot.ReadLineSensor(false);
var v = bot.ReadVoiceLevel();
Thread.Sleep(50);
bot.Beep();
}
}
static void TestTinyBit()
{
var buzzerController = PwmController.FromName(FEZBit.Timer.Pwm.Controller3.Id);
var buzzerChannel = buzzerController.OpenChannel(FEZBit.Timer.Pwm.Controller3.P0);
var lineDetectLeft = GpioController.GetDefault().OpenPin(FEZBit.GpioPin.P13);
var lineDetectRight = GpioController.GetDefault().OpenPin(FEZBit.GpioPin.P14);
var voiceSensor = AdcController.FromName(FEZBit.Adc.Controller1.Id).OpenChannel(FEZBit.Adc.Controller1.P1);
var p2remove = GpioController.GetDefault().OpenPin(FEZBit.GpioPin.P1);
var distanceTrigger = GpioController.GetDefault().OpenPin(FEZBit.GpioPin.P16);
var distanceEcho = GpioController.GetDefault().OpenPin(FEZBit.GpioPin.P15);
p2remove.SetDriveMode(GpioPinDriveMode.Input);
var bot = new TinyBitController(
I2cController.FromName(FEZBit.I2cBus.Edge),
buzzerChannel,
voiceSensor,
lineDetectLeft, lineDetectRight, distanceTrigger, distanceEcho,
FEZBit.GpioPin.P12
);
new Thread(() => {
while (true)
{
bot.SetHeadlight(100, 0, 0);
Thread.Sleep(200);
bot.SetHeadlight(0, 0, 100);
Thread.Sleep(300);
}
}).Start();
/*new Thread(() => {
* while (true) {
* bot.Beep();
* Thread.Sleep(2_000);
* }
* }).Start();
*/
while (true)
{
bot.SetMotorSpeed(0.5, 0.5);
var l = bot.ReadLineSensor(true);
var r = bot.ReadLineSensor(false);
var v = bot.ReadVoiceLevel();
var d = bot.ReadDistance();
if (d < 20)
{
bot.SetMotorSpeed(-0.5, -0.5);
Thread.Sleep(200);
bot.SetMotorSpeed(-0.5, 0.5);
Thread.Sleep(200);
bot.SetMotorSpeed(0, 0);
Thread.Sleep(1000);
bot.Beep();
Thread.Sleep(100);
bot.Beep();
Thread.Sleep(100);
bot.Beep();
Thread.Sleep(100);
}
Thread.Sleep(10);
}
bot.SetHeadlight(30, 100, 100);
bot.SetColorLeds(1, 200, 0, 0);
bot.SetMotorSpeed(0.5, 0.5);
bot.SetMotorSpeed(0.5, -0.5);
bot.SetMotorSpeed(-0.5, 0.5);
bot.SetMotorSpeed(0, 0);
while (true)
{
var l = bot.ReadLineSensor(true);
var r = bot.ReadLineSensor(false);
var v = bot.ReadVoiceLevel();
Thread.Sleep(50);
bot.Beep();
}
}
