コード例 #1
0
        //code adapted from https://www.hackster.io/oztl/near-perfect-gyroscope-e5e10e

        /// <summary>
        /// Create new MPU 6050 object and initiate device
        /// </summary>
        /// <param name="busID">Serial bus ID on ESP32 device (1 or 2)</param>
        /// <returns></returns>
        public static Mpu6050 StartNew(int busID)
        {
            var tmp = new Mpu6050(busID);

            tmp.Start();
            return(tmp);
        }
コード例 #2
0
        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);
            }
        }