/// <summary>
/// Constructor
/// </summary>
/// <param name="leftMotor"></param>
/// <param name="rightMotor"></param>
/// <param name="encoders"></param>
/// <param name="frontRanger"></param>
/// <param name="rearRanger"></param>
public StasisRobot(Motor leftMotor, Motor rightMotor, InfraredDistanceSensor frontRanger, InfraredDistanceSensor rearRanger)
{
this.LeftMotor = leftMotor;
this.RightMotor = rightMotor;
this.FrontIRSensor = frontRanger;
this.RearIRSensor = rearRanger;
this.RearIRSensor.Offset = 2.2;
}
public static void Main()
{
// Motors
Motor motorA = new Motor(Pins.GPIO_PIN_D10, Pins.GPIO_PIN_D12, Pins.GPIO_PIN_D11, Pins.GPIO_PIN_D4, Pins.GPIO_PIN_D5);
Motor motorB = new Motor(Pins.GPIO_PIN_D9, Pins.GPIO_PIN_D7, Pins.GPIO_PIN_D8, Pins.GPIO_PIN_D6, Pins.GPIO_PIN_D13);
motorA.Reversed = true;
motorB.Reversed = false;
// Rangers
InfraredDistanceSensor irFront = new InfraredDistanceSensor(Pins.GPIO_PIN_A4);
InfraredDistanceSensor irBack = new InfraredDistanceSensor(Pins.GPIO_PIN_A5);
// Robot and its controller
StasisRobot bot = new StasisRobot(motorA, motorB, irFront, irBack);
StasisController controller = new StasisController(bot);
Timer thinkTimer = new Timer(new TimerCallback(delegate
{
controller.Think();
}), null, 0, 15);
// Keep alive
Thread.Sleep(Timeout.Infinite);
}