/// <summary>
/// Initialize an EV3 Gyro Sensor
/// </summary>
/// <param name="port">Sensor port</param>
/// <param name="mode">Gyro mode</param>
/// <param name="timeout">Period in millisecond to check sensor value changes</param>
public EV3GyroSensor(BrickPortSensor port, GyroMode mode, int timeout)
{
brick = new Brick();
Port = port;
gmode = mode;
brick.BrickPi.Sensor[(int)Port].Type = (BrickSensorType)mode;
periodRefresh = timeout;
timer = new Timer(UpdateSensor, this, TimeSpan.FromMilliseconds(timeout), TimeSpan.FromMilliseconds(timeout));
}
public MSSensorMUXBase (SensorPort Port, MSSensorMUXPort Address, GyroMode SensorMode) : base (Port, (byte)Address, I2CMode.LowSpeed)
{
base.Initialise ();
if (SensorMode == GyroMode.Angle)
Mode = 0;
else if (SensorMode == GyroMode.AngularVelocity)
Mode = 1;
NumberOfM = 1;
SetSensorMode ();
}
/// <summary>
/// Reset the sensor
/// </summary>
public new void Reset ()
{
if (Mode == GyroMode.Angle) {
Mode = GyroMode.AngularVelocity;
System.Threading.Thread.Sleep(100);
Mode = GyroMode.Angle;
}
else
{
Mode = GyroMode.Angle;
System.Threading.Thread.Sleep(100);
Mode = GyroMode.AngularVelocity;
}
}
/// <summary>
/// Initializes a new instance of the Gyro sensor.
/// </summary>
/// <param name="mode">Mode.</param>
public EV3GyroSensor (SensorPort port, GyroMode mode) : base(port)
{
base.Initialise(base.uartMode);
Mode = mode;
}
public override void SelectPreviousMode ()
{
Mode = Mode.Previous();
return;
}
public override void SelectNextMode()
{
Mode = Mode.Next();
return;
}
/// <summary>
/// Initializes a new instance of the <see cref="MonoBrick.EV3.GyroSensor"/> class.
/// </summary>
/// <param name="mode">Mode.</param>
public GyroSensor (GyroMode mode) : base((SensorMode)mode)
{
}
/// <summary>
/// Initialize an EV3 Gyro Sensor
/// </summary>
/// <param name="brick"></param>
/// <param name="port">Sensor port</param>
/// <param name="mode">Gyro mode</param>
public EV3GyroSensor(Brick brick, SensorPort port, GyroMode mode) : this(brick, port, mode, 1000)
{
}
/// <summary>
/// Initializes a new instance of the <see cref="MonoBrick.EV3.GyroSensor"/> class.
/// </summary>
/// <param name="mode">Mode.</param>
public GyroSensor(GyroMode mode) : base((SensorMode)mode)
{
}
/// <summary>
/// Initialize an EV3 Gyro Sensor
/// </summary>
/// <param name="port">Sensor port</param>
/// <param name="mode">Gyro mode</param>
public EV3GyroSensor(BrickPortSensor port, GyroMode mode) : this(port, mode, 1000)
{
}
/// <summary>
/// Initialize an EV3 Gyro Sensor
/// </summary>
/// <param name="port">Sensor port</param>
/// <param name="mode">Gyro mode</param>
public EV3GyroSensor(BrickPortSensor port, GyroMode mode):this(port, mode, 1000)
{ }
