public static void Main (string[] args)
{
IRChannel[] channels = {IRChannel.One, IRChannel.Two, IRChannel.Three, IRChannel.Four};
int channelIdx = 0;
ManualResetEvent terminateProgram = new ManualResetEvent(false);
var sensor = new EV3IRSensor(SensorPort.In1);
ButtonEvents buts = new ButtonEvents ();
LcdConsole.WriteLine("Use IR on port1");
LcdConsole.WriteLine("Up distance");
LcdConsole.WriteLine("Down beacon location");
LcdConsole.WriteLine("Enter read command");
LcdConsole.WriteLine("Left change channel");
LcdConsole.WriteLine("Right read as string");
LcdConsole.WriteLine("Esc. terminate");
buts.EscapePressed += () => {
terminateProgram.Set();
};
buts.UpPressed += () => {
LcdConsole.WriteLine("Distance " + sensor.ReadDistance() + " cm");
};
buts.EnterPressed += () => {
LcdConsole.WriteLine("Remote command " + sensor.ReadRemoteCommand() + " on channel " + sensor.Channel);
};
buts.DownPressed += () => {
BeaconLocation location = sensor.ReadBeaconLocation();
LcdConsole.WriteLine("Beacon location: " + location.Location + " Beacon distance: " + location.Distance + " cm");
};
buts.LeftPressed += () => {
channelIdx = (channelIdx+1)%channels.Length;
sensor.Channel = channels[channelIdx];
LcdConsole.WriteLine("Channel is set to: " + channels[channelIdx]);
};
buts.RightPressed += () => {
LcdConsole.WriteLine(sensor.ReadAsString());
};
terminateProgram.WaitOne();
}
public static ISensor GetSensor(SensorPort port)
{
ISensor sensor = null;
SensorType sensorType = SensorManager.Instance.GetSensorType(port);
ConnectionType connectionType = SensorManager.Instance.GetConnectionType(port);
switch (sensorType)
{
case SensorType.Color:
sensor = new EV3ColorSensor(port);
break;
case SensorType.Gyro:
sensor = new EV3GyroSensor(port);
break;
case SensorType.IR:
sensor = new EV3IRSensor(port);
break;
case SensorType.NXTColor:
sensor = new NXTColorSensor(port);
break;
case SensorType.NXTLight:
sensor = new NXTLightSensor(port);
break;
case SensorType.NXTSound:
sensor = new NXTSoundSensor(port);
break;
case SensorType.NXTTouch:
sensor = new NXTTouchSensor(port);
break;
case SensorType.NXTUltraSonic:
sensor = new NXTUltraSonicSensor(port);
break;
case SensorType.Touch:
sensor = new EV3TouchSensor(port);
break;
case SensorType.UltraSonic:
sensor = new EV3UltrasonicSensor(port);
break;
case SensorType.NXTI2c:
var helper = new I2CHelper(port);
sensor = helper.GetSensor();
break;
case SensorType.Unknown:
if (connectionType == ConnectionType.UART)
{
var uartHelper = new UARTHelper(port);
sensor = uartHelper.GetSensor();
}
if (connectionType == ConnectionType.InputResistor)
{
sensor = new EV3TouchSensor(port);
}
break;
case SensorType.I2CUnknown:
break;
case SensorType.NXTTemperature:
break;
case SensorType.LMotor:
break;
case SensorType.MMotor:
break;
case SensorType.NXTTest:
break;
case SensorType.Terminal:
break;
case SensorType.Test:
break;
case SensorType.Error:
break;
case SensorType.None:
break;
}
return(sensor);
}
/// <summary>
/// コンストラクタ
/// </summary>
public Balanc3R()
{
motorR = new Motor(MotorPort.OutA); // 右足
motorL = new Motor(MotorPort.OutD); // 左足
speaker = new Speaker(0);
gyro = new EV3GyroSensor(SensorPort.In2);
// 角速度を取得
gyro.Mode = GyroMode.AngularVelocity;
ir = new EV3IRSensor(SensorPort.In4);
ir.Mode = IRMode.Remote;
}
public static ISensor GetSensor (SensorPort port)
{
ISensor sensor = null;
SensorType sensorType = SensorManager.Instance.GetSensorType (port);
ConnectionType connectionType = SensorManager.Instance.GetConnectionType (port);
switch (sensorType) {
case SensorType.Color:
sensor = new EV3ColorSensor (port);
break;
case SensorType.Gyro:
sensor = new EV3GyroSensor (port);
break;
case SensorType.IR:
sensor = new EV3IRSensor (port);
break;
case SensorType.NXTColor:
sensor = new NXTColorSensor (port);
break;
case SensorType.NXTLight:
sensor = new NXTLightSensor (port);
break;
case SensorType.NXTSound:
sensor = new NXTSoundSensor (port);
break;
case SensorType.NXTTouch:
sensor = new NXTTouchSensor (port);
break;
case SensorType.NXTUltraSonic:
sensor = new NXTUltraSonicSensor (port);
break;
case SensorType.Touch:
sensor = new EV3TouchSensor (port);
break;
case SensorType.UltraSonic:
sensor = new EV3UltrasonicSensor (port);
break;
case SensorType.NXTI2c:
var helper = new I2CHelper (port);
sensor = helper.GetSensor ();
break;
case SensorType.Unknown:
if (connectionType == ConnectionType.UART) {
var uartHelper = new UARTHelper (port);
sensor = uartHelper.GetSensor ();
}
if (connectionType == ConnectionType.InputResistor) {
sensor = new EV3TouchSensor (port);
}
break;
case SensorType.I2CUnknown:
break;
case SensorType.NXTTemperature:
break;
case SensorType.LMotor:
break;
case SensorType.MMotor:
break;
case SensorType.NXTTest:
break;
case SensorType.Terminal:
break;
case SensorType.Test:
break;
case SensorType.Error:
break;
case SensorType.None:
sensor = new NoSensor (port);
break;
}
if (sensor == null)
{
sensor = new UnknownSensor(port);
}
return sensor;
}
