private async Task TestMultipleSensorsTouchCSSoud()
{
NXTTouchSensor touch = new NXTTouchSensor(BrickPortSensor.PORT_S2);
EV3TouchSensor ev3Touch = new EV3TouchSensor(BrickPortSensor.PORT_S1, 20);
NXTSoundSensor sound = new NXTSoundSensor(BrickPortSensor.PORT_S4);
NXTColorSensor nxtlight = new NXTColorSensor(BrickPortSensor.PORT_S3);
RGBColor rgb;
bool bwait = true;
while (bwait)
{
Debug.WriteLine(string.Format("NXT Touch, Raw: {0}, ReadASString: {1}, IsPressed: {2}, NumberNodes: {3}, SensorName: {4}", touch.ReadRaw(), touch.ReadAsString(), touch.IsPressed(), touch.NumberOfModes(), touch.GetSensorName()));
Debug.WriteLine(string.Format("EV3 Touch, Raw: {0}, ReadASString: {1}, IsPressed: {2}, NumberNodes: {3}, SensorName: {4}", ev3Touch.ReadRaw(), ev3Touch.ReadAsString(), ev3Touch.IsPressed(), ev3Touch.NumberOfModes(), ev3Touch.GetSensorName()));
Debug.WriteLine(string.Format("NXT Sound, Raw: {0}, ReadASString: {1}, NumberNodes: {2}, SensorName: {3}", sound.ReadRaw(), sound.ReadAsString(), sound.NumberOfModes(), sound.GetSensorName()));
Debug.WriteLine(string.Format("NXT Color Sensor, Raw: {0}, ReadASString: {1}, NumberNodes: {2}, SensorName: {3}",
nxtlight.ReadRaw(), nxtlight.ReadAsString(), nxtlight.NumberOfModes(), nxtlight.GetSensorName()));
rgb = nxtlight.ReadRGBColor();
Debug.WriteLine(string.Format("Color: {0}, Red: {1}, Green: {2}, Blue: {3}",
nxtlight.ReadColor(), rgb.Red, rgb.Green, rgb.Blue));
// Debug.WriteLine(string.Format("raw {0}", nxtlight.ReadTest()));
await Task.Delay(300);
if ((touch.IsPressed()) && ev3Touch.IsPressed())
bwait = false;
}
}
private async Task TestEV3Color()
{
//brick.Stop();
//brick.SetTimeout(250);
EV3ColorSensor nxtlight = new EV3ColorSensor(BrickPortSensor.PORT_S4, ColorSensorMode.Reflection);
EV3TouchSensor touch = new EV3TouchSensor(BrickPortSensor.PORT_S1);
//brick.Stop();
//brick.SetupSensors();
RGBColor rgb;
await Task.Delay(5000);
for (int i = 0; i < nxtlight.NumberOfModes(); i++)
{
int count = 0;
while ((count < 100) && !touch.IsPressed())
{
//Debug.WriteLine(string.Format("NXT Touch, Raw: {0}, ReadASString: {1}, IsPressed: {2}, NumberNodes: {3}, SensorName: {4}", touch.ReadRaw(), touch.ReadAsString(), touch.IsPressed(), touch.NumberOfModes(), touch.GetSensorName()));
//Debug.WriteLine(string.Format("EV3 Touch, Raw: {0}, ReadASString: {1}, IsPressed: {2}, NumberNodes: {3}, SensorName: {4}", ev3Touch.ReadRaw(), ev3Touch.ReadAsString(), ev3Touch.IsPressed(), ev3Touch.NumberOfModes(), ev3Touch.GetSensorName()));
//Debug.WriteLine(string.Format("NXT Sound, Raw: {0}, ReadASString: {1}, NumberNodes: {2}, SensorName: {3}", sound.ReadRaw(), sound.ReadAsString(), sound.NumberOfModes(), sound.GetSensorName()));
//brick.UpdateValues();
Debug.WriteLine(string.Format("EV3 Color Sensor, Raw: {0}, ReadASString: {1}",
nxtlight.ReadRaw(), nxtlight.ReadAsString()));
rgb = nxtlight.ReadRGBColor();
Debug.WriteLine(string.Format("Color: {0}, Red: {1}, Green: {2}, Blue: {3}",
nxtlight.ReadColor(), rgb.Red, rgb.Green, rgb.Blue));
//brick.Stop();
//brick.Start();
//nxtlight.ColorMode = ColorSensorMode.Ambient;
await Task.Delay(1000);
//if ((touch.IsPressed()) && ev3Touch.IsPressed())
count++;
//nxtlight.ColorMode = ColorSensorMode.Color;
}
if (nxtlight.ColorMode == ColorSensorMode.Reflection)
nxtlight.ColorMode = ColorSensorMode.Color;
else
nxtlight.ColorMode = ColorSensorMode.Reflection;
//brick.SetupSensors();
await Task.Delay(5000);
}
}
private async Task LunchFollowMe()
{
EV3TouchSensor touch = new EV3TouchSensor(BrickPortSensor.PORT_S1);
NXTUltraSonicSensor ultra = new NXTUltraSonicSensor(BrickPortSensor.PORT_S3, UltraSonicMode.Centimeter);
robot = new Vehicule(BrickPortMotor.PORT_B, BrickPortMotor.PORT_C);
while (!touch.IsPressed())
{
int valultra = ultra.Value;
if ((valultra < 70) && (valultra!=0))
{
Debug.WriteLine($"Taking picture, distance {valultra} cm");
await MakePicture();
}
await Task.Delay(10);
}
Debug.Write("end of face tracking and detection");
}