public static void Run()
{
var button = new InterruptPort(Pins.ONBOARD_SW1, false, Port.ResistorMode.Disabled,
Port.InterruptMode.InterruptEdgeHigh);
var buttonIndex = 0;
button.OnInterrupt += (data1, data2, time) =>
{
buttonIndex++;
if (buttonIndex == 3)
{
buttonIndex = 0;
}
};
const int readings = 10;
Accelerometer.Precision = 2;
using (var accel = new Accelerometer(Pins.GPIO_PIN_A4))
{
accel.xAxis = new Accelerometer.Axis(Pins.GPIO_PIN_A1, Cpu.AnalogChannel.ANALOG_1,
Accelerometer.xAxisVoltage);
accel.yAxis = new Accelerometer.Axis(Pins.GPIO_PIN_A2, Cpu.AnalogChannel.ANALOG_2,
Accelerometer.yAxisVoltage);
accel.zAxis = new Accelerometer.Axis(Pins.GPIO_PIN_A3, Cpu.AnalogChannel.ANALOG_3,
Accelerometer.zAxisVoltage);
using (var servo = new ServoController(Pins.GPIO_PIN_D9, 600, 3000, startPercent: 50))
{
var q = new Queue();
double total = 0;
// Keep application alive via loop
while (true)
{
while (q.Count < readings)
{
var reading = accel.Read();
double value = 0;
switch (buttonIndex)
{
case 0:
value = reading.Z;
break;
case 1:
value = reading.Y;
break;
case 2:
value = reading.Z;
break;
}
q.Enqueue(value);
total += value;
}
var avg = total / readings;
total -= (double)q.Dequeue();
//double total = 0;
//for (var x = 0; x < readings; x++)
//{
// var reading = accel.Read();
// total += reading.Y/2;
//}
//var avg = total/readings;
//Thread.Sleep(5);
var rotation = ((avg + 90) / 180) * 100;
//var adjusted = 1000 + (int)rotation;
Debug.Print("avg=" + avg + ", rotation=" + rotation);
servo.Rotate((int)rotation);
}
}
}
}
public static void Run()
{
var button = new InterruptPort(Pins.ONBOARD_SW1, false, Port.ResistorMode.Disabled,
Port.InterruptMode.InterruptEdgeHigh);
var buttonIndex = 0;
button.OnInterrupt += (data1, data2, time) =>
{
buttonIndex++;
if (buttonIndex == 3)
buttonIndex = 0;
};
const int readings = 10;
Accelerometer.Precision = 2;
using (var accel = new Accelerometer(Pins.GPIO_PIN_A4))
{
accel.xAxis = new Accelerometer.Axis(Pins.GPIO_PIN_A1, Cpu.AnalogChannel.ANALOG_1,
Accelerometer.xAxisVoltage);
accel.yAxis = new Accelerometer.Axis(Pins.GPIO_PIN_A2, Cpu.AnalogChannel.ANALOG_2,
Accelerometer.yAxisVoltage);
accel.zAxis = new Accelerometer.Axis(Pins.GPIO_PIN_A3, Cpu.AnalogChannel.ANALOG_3,
Accelerometer.zAxisVoltage);
using (var servo = new ServoController(Pins.GPIO_PIN_D9, 600, 3000,startPercent:50))
{
var q = new Queue();
double total = 0;
// Keep application alive via loop
while (true)
{
while (q.Count < readings)
{
var reading = accel.Read();
double value =0;
switch (buttonIndex)
{
case 0:
value = reading.Z;
break;
case 1:
value = reading.Y;
break;
case 2:
value = reading.Z;
break;
}
q.Enqueue(value);
total += value;
}
var avg = total/readings;
total -= (double) q.Dequeue();
//double total = 0;
//for (var x = 0; x < readings; x++)
//{
// var reading = accel.Read();
// total += reading.Y/2;
//}
//var avg = total/readings;
//Thread.Sleep(5);
var rotation = ((avg+90)/180)*100;
//var adjusted = 1000 + (int)rotation;
Debug.Print("avg=" + avg + ", rotation=" + rotation);
servo.Rotate((int)rotation);
}
}
}
}
