public static void Main()
{
_mpu = Mpu6050.StartNew(2);
_mpuArgList = new ArrayList()
{
"", "", ""
};
_led = new PinController.LedBlinker(2);
_vibe = new PinController.LedBlinker(13);
Debug.WriteLine("Init");
_led.On();
Thread.Sleep(100);
_led.Off();
var AppID = "DDRTwistNShout";
var serverUdpPort = 7348;
var nanoConfig = new ArdNetClientConfig(AppID, null, serverUdpPort);
nanoConfig.TCP.HeartbeatConfig.HeartbeatInterval = TimeSpan.FromMilliseconds(2000);
nanoConfig.TCP.HeartbeatConfig.ForceStrictHeartbeat = true;
nanoConfig.TCP.HeartbeatConfig.RespondToHeartbeats = false;
_ardManager = new ArdNetClientManager(SystemConfig.WiFiCredentials, nanoConfig);
_ardManager.TcpEndpointConnected += ArdManager_TcpEndpointConnected;
_ardManager.TcpEndpointDisconnected += NanoClient_ServerDisconnected;
_ardManager.StartWorkerThread();
_ardManager.CommandReceived += ArdManager_CommandReceived;
MpuValue data;
var spinCmd = TcpRequest.CreateOutbound("SPIN", _mpuArgList);
DateTime spinStartTime = DateTime.MinValue;
while (true)
{
data = _mpu.GetData();
//gyro data
//x, y, z
//_mpuArgList[0] = data.GyroX.ToString();
//_mpuArgList[1] = data.GyroY.ToString();
//_mpuArgList[2] = data.GyroZ.ToString();
//Debug.WriteLine($"[{data.GyroX} {data.GyroY} {data.GyroZ}]");
if (abs(data.GyroY) > 15000 && spinStartTime.Equals(DateTime.MinValue))
{
spinStartTime = DateTime.UtcNow;
}
else if (abs(data.GyroY) < 5000 && !spinStartTime.Equals(DateTime.MinValue))
{
var spinTime = (DateTime.UtcNow - spinStartTime).TotalMilliseconds;
Debug.WriteLine($"SPIN: {spinTime}");
spinStartTime = DateTime.MinValue;
if (spinTime > 800)
{
_ardManager.EnqueueTask(x => x.SendCommand(spinCmd));
}
}
Thread.Sleep(10);
}
}
public static void Main()
{
#if platform_test && !platform_beetle
Configuration.SetPinFunction(23, DeviceFunction.I2C1_DATA);
Configuration.SetPinFunction(22, DeviceFunction.I2C1_CLOCK);
_mpu = Mpu6050.StartNew(1);
#elif !platform_test && platform_beetle
_mpu = Mpu6050.StartNew(2);
#endif
_mpuArgList = new ArrayList()
{
"", "", ""
};
_led = new PinController.LedBlinker(2);
_touchController.Init();
_palmTouch = _touchController.OpenPin(27, new TouchPadConfig()
{
PinSelectMode = TouchPinSelectMode.GpioIndex
});
_triggerTouch = _touchController.OpenPin(13, new TouchPadConfig()
{
PinSelectMode = TouchPinSelectMode.GpioIndex
});
Debug.WriteLine("Init");
_led.On();
Thread.Sleep(100);
_led.Off();
var AppID = "Esp32.HairTrigger";
var serverUdpPort = 48597;
var nanoConfig = new ArdNetClientConfig(AppID, null, serverUdpPort);
nanoConfig.TCP.HeartbeatConfig.HeartbeatInterval = TimeSpan.FromMilliseconds(2000);
nanoConfig.TCP.HeartbeatConfig.ForceStrictHeartbeat = true;
nanoConfig.TCP.HeartbeatConfig.RespondToHeartbeats = false;
_ardManager = new ArdNetClientManager(SystemConfig.WiFiCredentials, nanoConfig);
_ardManager.TcpEndpointConnected += ArdManager_TcpEndpointConnected;
_ardManager.TcpEndpointDisconnected += NanoClient_ServerDisconnected;
_ardManager.StartWorkerThread();
Debug.WriteLine("Loop");
MpuValue data;
DateTime now;
while (true)
{
_ = _serverMsgHandle.WaitOne();
now = DateTime.UtcNow;
if (!_palmTouch.IsTouched())
{
Thread.Sleep(10);
continue;
}
if ((now - _mpuLastSend).TotalMilliseconds > 75)
{
data = _mpu.GetData();
//gyro data
//x, y, z
_mpuArgList[0] = data.GyroX.ToString();
_mpuArgList[1] = data.GyroY.ToString();
_mpuArgList[2] = data.GyroZ.ToString();
var request = TcpRequest.CreateOutbound("MPU", _mpuArgList);
_ardManager.EnqueueTask(x =>
{
_ = x.SendCommand(request);
});
_mpuLastSend = now;
}
now = DateTime.UtcNow;
if (!_triggerIsDown && (now - _triggerLastSend).TotalMilliseconds > 50)
{
if (_triggerTouch.IsTouched())
{
_ardManager.EnqueueTask(x => x.SendCommand(_triggerTcpRequest_Down));
_triggerIsDown = true;
_triggerLastSend = now;
}
}
else if (_triggerIsDown && (now - _triggerLastSend).TotalMilliseconds > 10)
{
if (!_triggerTouch.IsTouched())
{
_ardManager.EnqueueTask(x => x.SendCommand(_triggerTcpRequest_Up));
_triggerIsDown = false;
_triggerLastSend = now;
}
}
}
}
