public Sejway()
{
// ls = new LightSensor(SensorPort.S2, true);
ev3 = new EV3Brick ();
}
public Sejway()
{
// ls = new LightSensor(SensorPort.S2, true);
ev3 = new EV3Brick();
}
private void testController()
{
Console.WriteLine("Testing constoller ...");
EV3Brick ev3 = new EV3Brick();
ev3.connect();
// current status: normalize
int motorAdeg = (int)(ev3.getMotorADegree() / 50.0);
int motorBdeg = (int)(ev3.getMotorBDegree() / 300.0);
/*
* training data = [
* [[0,0,0,1], [0,1]], // down1
* [[0,1,1,1], [1,0]], // pick
* [[1,1,1,0], [0,-1]], // up1
* [[1,0,1,1], [0,1]], // down2
* [[1,1,0,1], [-1,0]], // drop
* [[0,1,0,0], [0,-1]] // up2
* ]
*/
var argv = new List <int[]> ();
// current (A, B), desired (A, B)
// down1
argv.Add(new [] { motorAdeg, motorBdeg, 0, 1 });
// argv.Add (new []{0,0,0,1});
argv.Add(new [] { 0, 1 }); // targets A, B
// up1
// argv.Add (new []{1,1,1,0});
// argv.Add (new []{motorAdeg,motorBdeg,1,0});
// argv.Add (new []{0,-1}); // targets A, B
var engine = Python.CreateEngine();
var paths = engine.GetSearchPaths();
paths.Add(pythonPath);
engine.SetSearchPaths(paths);
engine.GetSysModule().SetVariable("argv", argv);
var scriptRuntime = Python.CreateRuntime();
scriptRuntime.GetSysModule().SetVariable("argv", argv);
try
{
dynamic result = engine.ExecuteFile("script.py");
Console.WriteLine(result.outputs);
var outputs = result.outputs;
foreach (double output in outputs)
{
Console.WriteLine(output);
}
motorAdeg = (int)(outputs[0] * 50);
motorBdeg = (int)(outputs[1] * 300);
Console.WriteLine(motorAdeg + ", " + motorBdeg);
ev3.moveMotorA(motorAdeg);
ev3.moveMotorB(motorBdeg);
Thread.Sleep(5000);
}
catch (Exception ex)
{
Console.WriteLine(
"Oops! We couldn't execute the script because of an exception: " + ex.Message);
}
ev3.disconnect();
Console.WriteLine("Complete.");
// Console.ReadLine();
}
static void Main(string[] args)
{
var ev3 = new EV3Brick <ColorSensor, UltrasonicSensor, TouchSensor, IRSensor>("usb");
ev3.Connection.Open();
ev3.Sensor1.Mode = ColorMode.Color;
ev3.Sensor2.Mode = UltrasonicMode.Centimeter;
ev3.Sensor3.Mode = TouchMode.Count;
ev3.Sensor4.Mode = IRMode.Seek;
ConsoleKeyInfo cki;
Console.WriteLine("Press Q to quit");
sbyte speed = 0;
do
{
cki = Console.ReadKey(true); //press a key
switch (cki.Key)
{
case ConsoleKey.D1: //1 was pressed
Console.WriteLine("S1: " + ev3.Sensor1.ReadAsString());
break;
case ConsoleKey.D2: //2 was pressed
Console.WriteLine("S2: " + ev3.Sensor2.ReadAsString());
break;
case ConsoleKey.D3: //3 was pressed
Console.WriteLine("S3: " + ev3.Sensor2.ReadAsString());
break;
case ConsoleKey.D4: //4 was pressed
Console.WriteLine("S4: " + ev3.Sensor2.ReadAsString());
break;
case ConsoleKey.UpArrow:
if (speed < 100)
{
speed = (sbyte)(speed + 10);
}
Console.WriteLine("Motor A speed set to " + speed);
ev3.MotorA.On(speed);
break;
case ConsoleKey.DownArrow:
if (speed > -100)
{
speed = (sbyte)(speed - 10);
}
Console.WriteLine("Motor A speed set to " + speed);
ev3.MotorA.On(speed);
break;
case ConsoleKey.S:
Console.WriteLine("Motor A off");
speed = 0;
ev3.MotorA.Off();
break;
case ConsoleKey.B:
Console.WriteLine("Motor A break");
speed = 0;
ev3.MotorA.Brake();
break;
case ConsoleKey.T:
int count = ev3.MotorA.GetTachoCount();
Console.WriteLine("Motor A tacho count:" + count);
break;
case ConsoleKey.C:
Console.WriteLine("Clear tacho count");
ev3.MotorA.ResetTacho();
break;
case ConsoleKey.M:
Console.WriteLine("Enter position to move to.");
string input = Console.ReadLine();
Int32 position;
if (Int32.TryParse(input, out position))
{
Console.WriteLine("Move to " + position);
ev3.MotorA.MoveTo(50, position);
}
else
{
Console.WriteLine("Enter a valid number");
}
break;
}
} while (cki.Key != ConsoleKey.Q);
}
private void testController()
{
Console.WriteLine("Testing constoller ...");
EV3Brick ev3 = new EV3Brick ();
ev3.connect ();
// current status: normalize
int motorAdeg = (int) (ev3.getMotorADegree()/50.0);
int motorBdeg = (int) (ev3.getMotorBDegree()/300.0);
/*
training data = [
[[0,0,0,1], [0,1]], // down1
[[0,1,1,1], [1,0]], // pick
[[1,1,1,0], [0,-1]], // up1
[[1,0,1,1], [0,1]], // down2
[[1,1,0,1], [-1,0]], // drop
[[0,1,0,0], [0,-1]] // up2
]
*/
var argv = new List<int[]> ();
// current (A, B), desired (A, B)
// down1
argv.Add (new []{motorAdeg,motorBdeg,0,1});
// argv.Add (new []{0,0,0,1});
argv.Add (new []{0,1}); // targets A, B
// up1
// argv.Add (new []{1,1,1,0});
// argv.Add (new []{motorAdeg,motorBdeg,1,0});
// argv.Add (new []{0,-1}); // targets A, B
var engine = Python.CreateEngine();
var paths = engine.GetSearchPaths();
paths.Add(pythonPath);
engine.SetSearchPaths(paths);
engine.GetSysModule ().SetVariable ("argv", argv);
var scriptRuntime = Python.CreateRuntime();
scriptRuntime.GetSysModule().SetVariable("argv", argv);
try
{
dynamic result = engine.ExecuteFile("script.py");
Console.WriteLine(result.outputs);
var outputs = result.outputs;
foreach (double output in outputs) {
Console.WriteLine(output);
}
motorAdeg = (int) (outputs[0]*50);
motorBdeg = (int) (outputs[1]*300);
Console.WriteLine(motorAdeg + ", " + motorBdeg);
ev3.moveMotorA(motorAdeg);
ev3.moveMotorB(motorBdeg);
Thread.Sleep(5000);
}
catch (Exception ex)
{
Console.WriteLine(
"Oops! We couldn't execute the script because of an exception: " + ex.Message);
}
ev3.disconnect ();
Console.WriteLine("Complete.");
// Console.ReadLine();
}
static void Main(string[] args)
{
var ev3 = new EV3Brick<ColorSensor,UltrasonicSensor,TouchSensor,IRSensor>("usb");
ev3.Connection.Open();
ev3.Sensor1.Mode = ColorMode.Color;
ev3.Sensor2.Mode = UltrasonicMode.Centimeter;
ev3.Sensor3.Mode = TouchMode.Count;
ev3.Sensor4.Mode = IRMode.Seek;
ConsoleKeyInfo cki;
Console.WriteLine("Press Q to quit");
sbyte speed = 0;
do
{
cki = Console.ReadKey(true); //press a key
switch(cki.Key){
case ConsoleKey.D1://1 was pressed
Console.WriteLine("S1: " + ev3.Sensor1.ReadAsString());
break;
case ConsoleKey.D2://2 was pressed
Console.WriteLine("S2: " + ev3.Sensor2.ReadAsString());
break;
case ConsoleKey.D3://3 was pressed
Console.WriteLine("S3: " + ev3.Sensor2.ReadAsString());
break;
case ConsoleKey.D4://4 was pressed
Console.WriteLine("S4: " + ev3.Sensor2.ReadAsString());
break;
case ConsoleKey.UpArrow:
if(speed < 100)
speed = (sbyte)(speed + 10);
Console.WriteLine("Motor A speed set to " + speed);
ev3.MotorA.On(speed);
break;
case ConsoleKey.DownArrow:
if(speed > -100)
speed = (sbyte)(speed - 10);
Console.WriteLine("Motor A speed set to " + speed);
ev3.MotorA.On(speed);
break;
case ConsoleKey.S:
Console.WriteLine("Motor A off");
speed = 0;
ev3.MotorA.Off();
break;
case ConsoleKey.B:
Console.WriteLine("Motor A break");
speed = 0;
ev3.MotorA.Brake();
break;
case ConsoleKey.T:
int count = ev3.MotorA.GetTachoCount();
Console.WriteLine("Motor A tacho count:" +count);
break;
case ConsoleKey.C:
Console.WriteLine("Clear tacho count");
ev3.MotorA.ResetTacho();
break;
case ConsoleKey.M:
Console.WriteLine("Enter position to move to.");
string input = Console.ReadLine();
Int32 position;
if(Int32.TryParse(input, out position)){
Console.WriteLine("Move to " + position);
ev3.MotorA.MoveTo(50, position);
}
else{
Console.WriteLine("Enter a valid number");
}
break;
}
} while (cki.Key != ConsoleKey.Q);
}
