public static void Main()
{
OutputPort o = new OutputPort(Pins.ONBOARD_LED, true);
while (true)
{
Thread.Sleep(1000);
o.Write(true);
Thread.Sleep(1000);
o.Write(false);
}
// write your code here
// I2CDevice i2c = new I2CDevice(new I2CDevice.Configuration(0x38,100));
// Microsoft.SPOT.Hardware.I2CDevice.I2CTransaction[] actions;
// var buffer = new byte[1];
// actions = new I2CDevice.I2CTransaction[]
// {
// I2CDevice.CreateWriteTransaction(buffer)
// };
// while (true)
// {
// buffer[0] = 255;
// i2c.Execute(actions, 1000);
// Thread.Sleep(1000);
// buffer[0] = 0;
// i2c.Execute(actions, 1000);
// Thread.Sleep(1000);
// }
}
public static void Main()
{
// Instantiate the communications
// port with some basic settings
SerialPort port = new SerialPort(
"COM1", 9600, Parity.None, 8, StopBits.One);
// Open the port for communications
port.Open();
OutputPort ledPort = new OutputPort(Pins.ONBOARD_LED, false);
byte[] buffer = new byte[message.Length];
buffer = System.Text.Encoding.UTF8.GetBytes(message);
try
{
while (true)
{
ledPort.Write(true);
Thread.Sleep(200);
port.Write(buffer, 0, buffer.Length);
ledPort.Write(false);
Thread.Sleep(5000);
}
}
finally
{
port.Close();
}
}
public static void Main()
{
// Specify the GPIO pin we want to use as an interrupt
// source, specify the edges the interrupt should trigger on
//InterruptPort button = new InterruptPort(Pins.V2_GPIO2, false,
// Port.ResistorMode.Disabled, Port.InterruptMode.InterruptEdgeBoth);
// Hook up an event handler (delegate) to the OnInterrupt event
//button.OnInterrupt += new NativeEventHandler(button_OnInterrupt);
Debug.Print("Started");
//Thread.Sleep(-1);
//Debug.Print("Interruption");
OutputPort bar = new OutputPort(Pins.V2_GPIO17, false);
bar.Write(false);
bool foo = false;
OutputPort o = new OutputPort(Pins.V2_GPIO11, false);
bar.Write(true);
for (int i = 0; i < 10000; i++)
{
//Console.WriteLine(i);
foo = !foo;
o.Write(foo);
}
bar.Write(false);
Debug.Print("END");
}
public static void Main()
{
var led = new OutputPort(Pins.ONBOARD_LED, false);
while(true)
{
led.Write(false);
var requestUri = "http://dev3.aquepreview.com/helicoptersurface";
Debug.Print("Setup");
using (var request = (HttpWebRequest)WebRequest.Create(requestUri))
{
request.Method = "GET";
Debug.Print("Requesting");
// send request and receive response
using (var response = (HttpWebResponse)request.GetResponse())
{
HttpStatusCode status = response.StatusCode;
if (status == HttpStatusCode.OK)
{
var pwm = new PWM(Pins.GPIO_PIN_D5);
Debug.Print("200, all ok");
pwm.SetDutyCycle(1000);
led.Write(true);
}
}
}
Thread.Sleep(2000);
}
}
static void Main()
{
// ... check if SD is inserted
// SD Card is inserted
// Create a new storage device
PersistentStorage sdPS = new PersistentStorage("SD");
// Mount the file system
sdPS.MountFileSystem();
// Assume one storage device is available,
// access it through NETMF
string rootDirectory = VolumeInfo.GetVolumes()[0].RootDirectory;
FileStream FileHandle = new FileStream(rootDirectory + @"\hello1.txt", FileMode.Create);
byte[] data = Encoding.UTF8.GetBytes("This string will go in the file!");
// Toggle LED on SD Write
OutputPort LED;
LED = new OutputPort((Cpu.Pin)FEZ_Pin.Digital.LED, true);
LED.Write(true);
// write the data and close the file
FileHandle.Write(data, 0, data.Length);
FileHandle.Close();
// Turn off led
LED.Write(false);
// if we need to unmount
sdPS.UnmountFileSystem();
// ...
Thread.Sleep(100);
}
public static void Main()
{
// write your code here
//PWM led1 = new PWM(PWMChannels.PWM_PIN_D3, 500, .5, false);
//led1.Start();
//led1.DutyCycle = .05;
OutputPort led = new OutputPort(Pins.GPIO_PIN_D13, false);
//A while-loop will make our code loop indefinitely
while (true)
{
led.Write(false);
Thread.Sleep(1000);
led.Write(true);
Thread.Sleep(1000);
}
/*
OutputPort led = new OutputPort(Pins.ONBOARD_LED, false);
while (true)
{
led.Write(true); // turn on the LED
Thread.Sleep(250); // sleep for 250ms
led.Write(false); // turn off the LED
Thread.Sleep(250); // sleep for 250ms
}
*/
}
public static void Main()
{
// create an analog input for our photo resistor
// we will use analog pin 0 on our Netduino
// note: place a 10k ohm resistor between the photo resistor and ground.
AnalogInput photo = new AnalogInput(SecretLabs.NETMF.Hardware.Netduino.AnalogChannels.ANALOG_PIN_A0);
// create a new outpot port for our LED and write to digital port 13
OutputPort led = new OutputPort(Pins.GPIO_PIN_D13, false);
while (true)
{
// create a new var for our photo resistor data
// multiply * 100 for a value that's easier to work with
double photoSense = photo.Read() * 100;
// if our values are over 1, then it's dark and we...
if (photoSense > 0.5)
{
// turn on the LED
led.Write(true);
}
else
{
// otherwise, turn off the LED
led.Write(false);
}
// sleep every 10 ms for faster light response
Thread.Sleep(10);
}
}
public static void Main()
{
OutputPort led = new OutputPort(Pins.ONBOARD_LED, false);
led.Write(true);
VoltageDivider voltageReader = new VoltageDivider(Pins.GPIO_PIN_A1, 470000, 4700);
Acs712 currentReader = new Acs712(Pins.GPIO_PIN_A2, Acs712.Range.ThirtyAmps);
EmonCmsProxy.Start();
MpptOptimizer.Start();
led.Write(false);
led.Dispose();
GC.WaitForPendingFinalizers();
//Random r = new Random((int) DateTime.Now.Ticks);
while (true)
{
double current = //r.NextDouble() / double.MaxValue * 10;
currentReader.Read();
double voltage = //r.NextDouble() / double.MaxValue * 3;
voltageReader.Read();
EmonCmsProxy.Push(current, voltage);
MpptOptimizer.Push(current, voltage);
Thread.Sleep(50);
}
}
//click, led will flash twice. click to enter a number n, wait and led will flash n times
public static void Main()
{
OutputPort led = new OutputPort(Pins.ONBOARD_LED, false);
InputPort btn = new InputPort(Pins.ONBOARD_BTN, false, Port.ResistorMode.Disabled);
bool currentState = false;
bool lastState = false;
int flashes = 0;
bool ledOn = false;
int clicks = -1;
Stopwatch timer = Stopwatch.StartNew(); ;
while (true)
{
timer.Stop();
//if user has already introduced number
if(timer.ElapsedMilliseconds > 3000)
{
timer.Reset();
while(clicks > 0)
{
clicks--;
led.Write(true);
Thread.Sleep(500);
led.Write(false);
Thread.Sleep(500);
}
}
timer.Start();
currentState = btn.Read();
//if button is pressed
if (currentState && !lastState)
{
clicks++;
//flash led twice to start
while(flashes < 4)
{
led.Write(!ledOn);
Thread.Sleep(500);
ledOn = !ledOn;
flashes++;
}
if(clicks > 0)
{
timer.Stop();
timer.Reset();
timer.Start();
}
}
lastState = currentState;
}
}
public static void Test()
{
// Create new Thread that runs the ExampleThreadFunction
Thread ExampleThread = new Thread(new ThreadStart(ExampleThreadFunction));
// SD stuff is in
PersistentStorage sdPS = new PersistentStorage("SD");
// Led stuff is in
OutputPort LED;
LED = new OutputPort((Cpu.Pin)FEZ_Pin.Digital.LED, true);
// Button stuff in
InputPort Button;
Button = new InputPort((Cpu.Pin)FEZ_Pin.Digital.LDR, false,
Port.ResistorMode.PullUp);
while (true)
{
//Led status at the beginning is off
LED.Write(false);
if (Button.Read())
{
while (Button.Read()) ; // wait while busy
//Led is on
LED.Write(true);
// Mount
sdPS.MountFileSystem();
// Start our new Thread
ExampleThread.Start();
while (Button.Read()) ; // wait while busy
//Led is off
LED.Write(true);
// Abort our new Thread
ExampleThread.Abort();
// Unmount
sdPS.UnmountFileSystem();
}
}
}
float ReadRaw()
{
int humidityRaw = 0;
_digitalPort.Write(true);
Thread.Sleep(5);
humidityRaw = _analogPort.Read();
_digitalPort.Write(false);
return(humidityRaw);
}
public static void Main()
{
// write your code here
var led = new OutputPort(Pins.ONBOARD_LED, false);
while (true) {
led.Write(true); // turn on the led
Thread.Sleep(250); // sleep for 250 ms
led.Write(false); // turn off the led
Thread.Sleep(250); // sleep for 250 ms
}
}
public static void Main()
{
// write your code here
OutputPort led = new OutputPort(Pins.ONBOARD_LED, false);
while (true)
{
led.Write(true);
Thread.Sleep(259);
led.Write(false);
Thread.Sleep(259);
}
}
public float Read()
{
int sample;
float humidity;
_digitalPort.Write(true);
Thread.Sleep(5);
sample = _analogPort.Read();
_digitalPort.Write(false);
humidity = 100 - Map(sample, 250, 1023, 0, 100);
return(humidity);
}
public static void Main()
{
var ledPort = new OutputPort(Pins.ONBOARD_LED, false);
while (true)
{
ledPort.Write(true);
Thread.Sleep(500);
ledPort.Write(false);
Thread.Sleep(500);
}
}
static void Main()
{
var ledPort = new OutputPort(Parameters.LedPin, false);
while (true)
{
ledPort.Write(true); // turn on LED
Thread.Sleep(500); // wait 500 ms
ledPort.Write(false); // turn off LED
Thread.Sleep(500); // wait 500 ms
}
}
private static void StartUp()
{
var led = new OutputPort(Pins.ONBOARD_LED, false);
var led1 = new OutputPort(Pins.GPIO_PIN_D0, false);
var led2 = new OutputPort(Pins.GPIO_PIN_D1, false);
using (System.Net.Sockets.Socket socket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp))
{
socket.Bind(new IPEndPoint(IPAddress.Any, 8080));
socket.Listen(1);
while (true)
{
using (Socket newSocket = socket.Accept())
{
if (newSocket.Poll(-1, SelectMode.SelectRead))
{
byte[] bytes = new byte[newSocket.Available];
int count = newSocket.Receive(bytes);
char[] chars = Encoding.UTF8.GetChars(bytes);
string str = new string(chars, 0, count);
if (str == "test1")
{
led1.Write(true);
Thread.Sleep(250);
led1.Write(false);
}
else if (str == "test2")
{
led2.Write(true);
Thread.Sleep(250);
led2.Write(false);
}
else
{
led1.Write(true);
led2.Write(true);
Thread.Sleep(250);
led1.Write(false);
led2.Write(false);
}
Debug.Print(str);
}
}
}
}
}
public static void Main()
{
OutputPort led = new OutputPort(Pins.ONBOARD_LED, false);
OutputPort red = new OutputPort(Pins.GPIO_PIN_D11, false);
while (true)
{
led.Write(true); // turn on the LED
red.Write(true);
Thread.Sleep(250); // sleep for 250ms
led.Write(false); // turn off the LED
red.Write(false);
Thread.Sleep(250); // sleep for 250ms
}
}
public static void DisplayAmmo(OutputPort ammoOut0, OutputPort ammoOut1, OutputPort ammoOut2, OutputPort ammoOut3)
{
switch (playerAmmo)
{
case 0:
ammoOut0.Write(false);
ammoOut1.Write(false);
ammoOut2.Write(false);
ammoOut3.Write(false);
break;
case 1:
ammoOut0.Write(true);
ammoOut1.Write(false);
ammoOut2.Write(false);
ammoOut3.Write(false);
break;
case 2:
ammoOut0.Write(false);
ammoOut1.Write(true);
ammoOut2.Write(false);
ammoOut3.Write(false);
break;
case 3:
ammoOut0.Write(true);
ammoOut1.Write(true);
ammoOut2.Write(false);
ammoOut3.Write(false);
break;
case 4:
ammoOut0.Write(false);
ammoOut1.Write(false);
ammoOut2.Write(true);
ammoOut3.Write(false);
break;
case 5:
ammoOut0.Write(true);
ammoOut1.Write(false);
ammoOut2.Write(true);
ammoOut3.Write(false);
break;
case 6:
ammoOut0.Write(false);
ammoOut1.Write(true);
ammoOut2.Write(true);
ammoOut3.Write(false);
break;
case 7:
ammoOut0.Write(true);
ammoOut1.Write(true);
ammoOut2.Write(true);
ammoOut3.Write(false);
break;
case 8:
ammoOut0.Write(false);
ammoOut1.Write(false);
ammoOut2.Write(false);
ammoOut3.Write(true);
break;
}
}
public static void Main()
{
OutputPort led = new OutputPort(Pins.ONBOARD_LED, false);
OutputPort shieldLed = new OutputPort(Pins.GPIO_PIN_D13, true);
while (false)
{
led.Write(true);
shieldLed.Write(false);
Thread.Sleep(250);
led.Write(false);
shieldLed.Write(true);
Thread.Sleep(250);
}
}
public static void Main()
{
// write your code here
OutputPort led01 = new OutputPort(Pins.GPIO_PIN_D0, false);
while (true)
{
Thread.Sleep(250);
led01.Write(true);
Thread.Sleep(250);
led01.Write(false);
}
}
public static void Main()
{
OutputPort led = new OutputPort(Pins.ONBOARD_LED, false);
SetUpTrigger();
SetUpServo();
while (true)
{
led.Write(true);
Thread.Sleep(250);
led.Write(false);
Thread.Sleep(250);
}
}
public Humidity Read()
{
int sample;
float humidity;
_digitalPort.Write(true);
Thread.Sleep(20);
sample = _analogPort.Read();
_digitalPort.Write(false);
humidity = 100 - Map(sample, 250, 1023, 0, 100);
return(new Humidity {
raw = sample, mapped = humidity
});
}
public static void Main()
{
// We use the LED to understand if the shield is properly connected to Netduino and valid average samples are counted
OutputPort led = new OutputPort(Pins.ONBOARD_LED, false);
// This is the main WeatherShield object
WeatherShield1 wShield1 = new WeatherShield1(Pins.GPIO_PIN_D7, Pins.GPIO_PIN_D2, WeatherShield1.DEFAULTADDRESS);
// Wait until valid samples are ready on the shield
while (!wShield1.averageValuesReady())
{
led.Write(true);
Thread.Sleep(1000);
led.Write(false);
Thread.Sleep(1000);
}
// Then start sending data to Console
while (true)
{
// Read values from the shield
float temperature = wShield1.readAveragedValue(WeatherShield1.units.TEMPERATURE);
float pressure = wShield1.readAveragedValue(WeatherShield1.units.PRESSURE);
float humidity = wShield1.readAveragedValue(WeatherShield1.units.HUMIDITY);
if ((temperature != float.MinValue) &&
(pressure != float.MinValue) &&
(humidity != float.MinValue))
{
// Connection performed OK.
led.Write(true);
Debug.Print("Temperature: " + temperature.ToString() + "\n");
Debug.Print("Pressure: " + pressure.ToString() + "\n");
Debug.Print("Humidity: " + humidity.ToString() + "\n");
}
else
{
// Something went wrong
led.Write(false);
// Try to resync the WeatherShield connection
wShield1.resetConnection();
}
// Wait for 30 seconds
Thread.Sleep(30000);
}
}
public static void Main()
{
// write your code here
OutputPort led = new OutputPort(Pins.ONBOARD_LED, false);
int port = 80;
// Wait 5 seconds for DHCP to assign an address
Thread.Sleep(5000);
Microsoft.SPOT.Net.NetworkInformation.NetworkInterface networkInterface = Microsoft.SPOT.Net.NetworkInformation.NetworkInterface.GetAllNetworkInterfaces()[0];
Debug.Print("My IP Address is: " + networkInterface.IPAddress.ToString());
Socket listenerSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
IPEndPoint endpoint = new IPEndPoint(IPAddress.Any, port);
listenerSocket.Bind(endpoint);
listenerSocket.Listen(1);
while (true)
{
Socket clientSocket = listenerSocket.Accept();
bool dataReady = clientSocket.Poll(5000, SelectMode.SelectRead);
if (dataReady && clientSocket.Available > 0)
{
byte[] buffer = new byte[clientSocket.Available];
int bytesRead = clientSocket.Receive(buffer);
string request = new string(System.Text.Encoding.UTF8.GetChars(buffer));
if (request.IndexOf("ON") >= 0)
led.Write(true);
else
led.Write(false);
string statusText = "LED is " + (led.Read() ? "ON" : "OFF") + ".";
string response = "HTTP/1.1 200 OK\r\n" +
"Content-Type: text/html; charset=utf-8\r\n\r\n" +
"<html><head><title>Netduino Networking Example</title></head>" +
"<body>" + statusText + "</body></html>";
clientSocket.Send(System.Text.Encoding.UTF8.GetBytes(response));
clientSocket.Close();
}
}
}
public string handleCommand(OutputPort sol, string command)
{
if (command == "ON")
{
sol.Write(true);
int uselessCounter = 0;
//for (int i = 0; i < SPIN_CONSTANT; ++i)
//{
// /*if (i == 35)
// {
// this.sol_under.Write(true);
// }
// else if (i == 42)
// {
// this.sol_under.Write(false);
// }*/
// uselessCounter++;
//}
//Thread.Sleep(DELAY);
//sol.Write(false);
return "on " + uselessCounter;
}
else if (command == "OFF")
{
sol.Write(false);
return "off";
}
return "invalid command";
}
public static void Main()
{
// create a new outpot port and write to the onboard LED
// we must define a port ID, and it's initial state (false == off);
OutputPort led = new OutputPort(Pins.ONBOARD_LED, false);
// create a loop for the program to run in...
while (true)
{
// blink every 1 second
led.Write(true); // turns the LED on
Thread.Sleep(1000); // waits 1 second
led.Write(false); // turns the LED off
Thread.Sleep(1000); // waits 1 second
}
}
public SiliconLabsSI7005(byte deviceId = DeviceIdDefault, int clockRateKHz = ClockRateKHzDefault, int transactionTimeoutmSec = TransactionTimeoutmSecDefault)
{
this.deviceId = deviceId;
this.clockRateKHz = clockRateKHz;
this.transactionTimeoutmSec = transactionTimeoutmSec;
using (OutputPort i2cPort = new OutputPort(Pins.GPIO_PIN_SDA, true))
{
i2cPort.Write(false);
Thread.Sleep(250);
}
using (I2CDevice device = new I2CDevice(new I2CDevice.Configuration(deviceId, clockRateKHz)))
{
byte[] writeBuffer = { RegisterIdDeviceId };
byte[] readBuffer = new byte[1];
// The first request always fails
I2CDevice.I2CTransaction[] action = new I2CDevice.I2CTransaction[]
{
I2CDevice.CreateWriteTransaction(writeBuffer),
I2CDevice.CreateReadTransaction(readBuffer)
};
if( device.Execute(action, transactionTimeoutmSec) == 0 )
{
// throw new ApplicationException("Unable to send get device id command");
}
}
}
public static void Main()
{
// write your code here
OutputPort led = new OutputPort(Pins.GPIO_PIN_D0, false);
InputPort button = new InputPort(Pins.GPIO_PIN_D1, false, Port.ResistorMode.PullUp);
OutputPort ledLight = new OutputPort(Pins.GPIO_PIN_D2, false);
InputPort buttonLight = new InputPort(Pins.GPIO_PIN_D3, false, Port.ResistorMode.PullUp);
AnalogInput pot = new AnalogInput(Pins.GPIO_PIN_A0);
bool buttonState = false;
bool isDark = false;
int potValue = 0;
while (true)
{
buttonState = !button.Read();
isDark = buttonLight.Read() || buttonState;
ledLight.Write(isDark);
led.Write(buttonState);
if (buttonState)
{
//while (buttonState)
//{
// potValue = pot.Read();
// led.Write(true);
// Thread.Sleep(potValue*10);
// led.Write(false);
// Thread.Sleep(potValue*10);
// buttonState = !button.Read();
//}
}
}
}
public static void Main()
{
//NetworkInterface.GetAllNetworkInterfaces()[0].EnableDhcp();
NetworkInterface.GetAllNetworkInterfaces()[0].EnableStaticIP("192.168.0.16","255.255.255.0","192.168.0.1");
// NetworkInterface.GetAllNetworkInterfaces()[0].RenewDhcpLease();
// var ipAddress = NetworkInterface.GetAllNetworkInterfaces()[0].IPAddress;
Thread.Sleep(1000);
Debug.Print("Dirs: ");
Debug.Print(Directory.GetCurrentDirectory());
Directory.SetCurrentDirectory(@"\SD");
string[] dirs = Directory.GetDirectories(@"\SD");
var webServer = new Server.WebServer {WebFolder = WebFolder, Port = 80};
webServer.Start();
var led = new OutputPort(Pins.ONBOARD_LED, false);
while (true)
{
// Blink LED to show we're still responsive
led.Write(!led.Read());
Thread.Sleep(2000);
}
}
public static void Main()
{
// Initialize Outputs
OutputPort ledBuiltIn = new OutputPort(Pins.ONBOARD_LED, false);
OutputPort ledGreen = new OutputPort(Pins.GPIO_PIN_D11, true);
// Initialize Inputs
InputPort button = new InputPort(Pins.ONBOARD_SW1, false, Port.ResistorMode.Disabled);
// Declare variables
bool buttonState = false;
int buttonPress = 0;
// Loop until button has been pressed 5 times
while (buttonPress < 6)
{
// Read the button bool
// TRUE when open, FALSE when closed
buttonState = button.Read();
// Turn on blue light when button open
ledBuiltIn.Write(buttonState);
// Turn green light on when button closed
ledGreen.Write(!buttonState);
}
}
public static void Main()
{
mainThread = Thread.CurrentThread;
activityLED = new OutputPort(Pins.ONBOARD_LED, false);
if (enableLogging)
{
int i = 0;
while (File.Exists(csvPath + i + ".csv"))
i++;
csvPath += i + ".csv";
writer = new FileStream(csvPath, FileMode.Append);
buffer = Encoding.UTF8.GetBytes("A X,A Y,A Z,M X,M Y,M Z,G X,G Y,G Z,,Yaw,Pitch,Roll \n");
writer.Write(buffer, 0, buffer.Length);
}
//ComplexNumTests();
//VectorTests();
//MatrixTests();
InitializeACDC();
mainThread.Priority = ThreadPriority.BelowNormal;
// Loop forever to keep the code running
// flashing the on board led to let us know code hasn't crashed
while (true)
{
activityLED.Write(!activityLED.Read() && enableLogging);
Thread.Sleep(10);
}
}
static void button_OnInterrupt(uint port, uint state, DateTime time)
{
// This method is called whenever an interrupt
OutputPort bar = new OutputPort(Pins.V2_GPIO17, false);
bar.Write(false);
bool foo = false;
OutputPort o = new OutputPort(Pins.V2_GPIO11, false);
bar.Write(true);
for (int i = 0; i < 200; i++)
{
foo = !foo;
o.Write(foo);
}
bar.Write(false);
}
public DigitalOutputPin(Cpu.Pin pin, double initialValue = 0)
{
Input = AddInput("Input", Units.Digital, initialValue);
port = new HWOutputPort(pin, initialValue >= HighMinValue);
Input.ValueChanged += (s, e) => {
port.Write(Input.Value >= HighMinValue);
};
}
public static void Main2()
{
// configure an output port for us to "write" to the LED
var led = new Microsoft.SPOT.Hardware.OutputPort(Pins.ONBOARD_LED, false);
int i = 0;
while (true)
{
led.Write(true); // turn on the LED
Thread.Sleep(250); // sleep for 250ms
led.Write(false); // turn off the LED
Thread.Sleep(250); // sleep for 250ms
Debug.Print("Looping" + i);
i++;
}
}
/// <summary>
/// Turns the debug LED on or off.
/// </summary>
/// <param name="on">True if the debug LED should be on</param>
public override void SetDebugLED(bool on)
{
if (debugLed == null)
{
// if (DebugLedPin == Cpu.Pin.GPIO_NONE) return;
debugLed = new OutputPort(DebugLedPin, false);
}
debugLed.Write(on);
}
private void SendByte(byte value, bool mode)
{
LCD_RS.Write(mode);
// high bits
LCD_D4.Write((value & 0x10) == 0x10);
LCD_D5.Write((value & 0x20) == 0x20);
LCD_D6.Write((value & 0x40) == 0x40);
LCD_D7.Write((value & 0x80) == 0x80);
ToggleEnable();
// low bits
LCD_D4.Write((value & 0x01) == 0x01);
LCD_D5.Write((value & 0x02) == 0x02);
LCD_D6.Write((value & 0x04) == 0x04);
LCD_D7.Write((value & 0x08) == 0x08);
ToggleEnable();
}
/// <summary>
/// Drive rover.
/// </summary>
static void RoverJoystickControlTimer_Tick(object temp)
{
switch (DRIVE_MODE_ROVER)
{
case DRIVE_MODE.MANUAL:
//get check box accessories
//Array.Copy(byteToHex(getChkBoxAccessories()), 0, ps2Data, 4, 2);
Array.Copy(byteToHex((byte)(convertLinearScale(steeringWheelAnalog.ReadRaw(), steeringWheelMin, steeringWheelMax, 0, 255))), 0, manualCmdOutput, 5, 2);
Array.Copy(byteToHex(triggerSpeedCmd()), 0, manualCmdOutput, 8, 2);
//get checksum
Array.Copy(byteToHex(getChecksum(Encoding.UTF8.GetBytes(new string(manualCmdOutput)))), 0, manualCmdOutput, 14, 2);
lairdComPort.Write(Encoding.UTF8.GetBytes(new string(manualCmdOutput)), 0, manualCmdOutput.Length);
//Debug.Print(new string(manualCmdOutput));
break;
case DRIVE_MODE.AUTO:
//Array.Copy(byteToHex((byte)DRIVE_MODE_ROVER), 0, autoCmdOutput, 5, 2);
//get checksum
Array.Copy(byteToHex(getChecksum(Encoding.UTF8.GetBytes(new string(autoCmdOutput)))), 0, autoCmdOutput, 8, 2);
lairdComPort.Write(Encoding.UTF8.GetBytes(new string(autoCmdOutput)), 0, autoCmdOutput.Length);
//Debug.Print(new string(autoCmdOutput));
break;
case DRIVE_MODE.COMPASS:
//get checksum
Array.Copy(byteToHex(getChecksum(Encoding.UTF8.GetBytes(new string(compassCmdOutput)))), 0, compassCmdOutput, 8, 2);
lairdComPort.Write(Encoding.UTF8.GetBytes(new string(compassCmdOutput)), 0, compassCmdOutput.Length);
//'$','O','C','C',','
// ,'0','0', //bytes 5,6 get byte 1
// ,'*'
// ,'0','0'
// ,0x0D,0x0A};
break;
}
SYSTEM_LED = !SYSTEM_LED;
onBoardLed.Write(SYSTEM_LED);
}
public static void Main()
{
//
// Controls server
//
// initialize the serial port for COM1 (using D0 & D1)
// initialize the serial port for COM3 (using D7 & D8)
var serialPort = new SerialPort(SerialPorts.COM3, 57600, Parity.None, 8, StopBits.One);
serialPort.Open();
var server = new ControlServer(serialPort);
//
// Just some diagnostic stuff
//
var uptimeVar = server.RegisterVariable("Uptime (s)", 0);
var lv = false;
var led = new Microsoft.SPOT.Hardware.OutputPort(Pins.ONBOARD_LED, lv);
//
// Make the robot
//
var leftMotor = HBridgeMotor.CreateForNetduino(PWMChannels.PWM_PIN_D3, Pins.GPIO_PIN_D1, Pins.GPIO_PIN_D2);
var rightMotor = HBridgeMotor.CreateForNetduino(PWMChannels.PWM_PIN_D6, Pins.GPIO_PIN_D4, Pins.GPIO_PIN_D5);
var robot = new TwoWheeledRobot(leftMotor, rightMotor);
//
// Expose some variables to control it
//
robot.SpeedInput.ConnectTo(server, writeable: true, name: "Speed");
robot.DirectionInput.ConnectTo(server, writeable: true, name: "Turn");
leftMotor.SpeedInput.ConnectTo(server);
rightMotor.SpeedInput.ConnectTo(server);
//
// Show diagnostics
//
for (var i = 0; true; i++)
{
uptimeVar.Value = i;
led.Write(lv);
lv = !lv;
Thread.Sleep(1000);
}
}
public static void Run()
{
// initialize the serial port for COM1 (using D0 & D1)
// initialize the serial port for COM3 (using D7 & D8)
var serialPort = new SerialPort(SerialPorts.COM3, 57600, Parity.None, 8, StopBits.One);
serialPort.Open();
var server = new ControlServer(serialPort);
var led = new Microsoft.SPOT.Hardware.OutputPort(Pins.ONBOARD_LED, false);
var lv = false;
var a0 = new AnalogInput(AnalogChannels.ANALOG_PIN_A0, -1);
var a1 = new AnalogInput(AnalogChannels.ANALOG_PIN_A1, -1);
var uptimeVar = server.RegisterVariable("Uptime (s)", 0);
server.RegisterVariable("Speed", 0, v => { });
server.RegisterVariable("Turn", 0, v => { });
var a0Var = server.RegisterVariable("Analog 0", 0);
var a1Var = server.RegisterVariable("Analog 1", 0);
var magicCmd = server.RegisterCommand("Magic", () => {
Debug.Print("MAAAGIIICC");
return(42);
});
for (var i = 0; true; i++)
{
uptimeVar.Value = i;
a0Var.Value = a0.Read();
a1Var.Value = a1.Read();
led.Write(lv);
lv = !lv;
Thread.Sleep(1000);
}
}
public override void Write(bool state)
{
_port.Write(state);
}
/// <summary>
/// Turns the debug LED on or off
/// </summary>
/// <param name="on">True if the debug LED should be on</param>
public override void SetDebugLED(bool on)
{
debugled.Write(on);
}
private void ToggleEnable()
{
LCD_E.Write(true);
LCD_E.Write(false);
}
