private void buttonSend_Click(object sender, EventArgs e)
{
int speedA, speedB, time;
try
{
speedA = Convert.ToInt32(textBoxSpeedMotorA.Text);
speedB = Convert.ToInt32(textBoxSpeedMotorB.Text);
time = Convert.ToInt32(textBoxMotorTime.Text);
}
catch (Exception exception)
{
MessageBox.Show(exception.Message);
return;
}
if (speedA > MaxSpeed || speedA < MinSpeed)
{
MessageBox.Show("Please check your input - motor A!");
return;
}
if (speedB > MaxSpeed || speedB < MinSpeed)
{
MessageBox.Show("Please check your input - motor B!");
return;
}
if (time < 0)
{
MessageBox.Show("Please check your input - time!");
return;
}
MotorDirection dirA = (MotorDirection)comboBoxMotorA.SelectedIndex;
MotorDirection dirB = (MotorDirection)comboBoxMotorB.SelectedIndex;
Arduino.GetInstance().Send(dirA, speedA, dirB, speedB, time);
}
private void buttonSample_Click(object sender, EventArgs e)
{
Image <Rgb, Byte> rawImage;
string tempPath = VideoSourceDevice.GetCurrentPicturePath();
try
{
rawImage = new Image <Rgb, byte>(tempPath);
}
catch (Exception exception)
{
Console.WriteLine(exception);
return;
}
double[] threshold1 = new double[]
{
200
};
double[] threshold2 = new double[]
{
200, 300, 400
};
CannyTextureAnalysisResult textureAnalysisResult = Cv.AutoCannyTextureAnalysis(rawImage, threshold1, threshold2, 0);
float diff = textureAnalysisResult.Diff;
/*
* ZedGraphForm tempGraphForm = new ZedGraphForm(textureAnalysisResult.Data);
* tempGraphForm.Show();
*/
Debug.ShowImg(textureAnalysisResult.Img);
textBoxConsole.AppendText("Center: " + textureAnalysisResult.Center + Environment.NewLine);
// if center is close to 0.5, it means the car direction is nearly towards the path.
float threadhold = 0.05f;
if (Math.Abs(diff) > threadhold)
{
if (diff > threadhold)
{
if (_previousDiff < -threadhold)
{
Arduino.GetInstance().Send(MotorDirection.Forward, 35, MotorDirection.Backward, 35, 200);
}
else
{
Arduino.GetInstance().Send(MotorDirection.Forward, 75, MotorDirection.Backward, 75, 200);
}
}
else if (diff < -threadhold)
{
if (_previousDiff > threadhold)
{
Arduino.GetInstance().Send(MotorDirection.Backward, 35, MotorDirection.Forward, 35, 200);
}
else
{
Arduino.GetInstance().Send(MotorDirection.Backward, 75, MotorDirection.Forward, 75, 200);
}
}
}
else
{
Arduino.GetInstance().Send(MotorDirection.Forward, 75, MotorDirection.Forward, 75, 200);
}
_previousDiff = diff;
}
private static void G1T1Loop()
{
Image <Rgb, Byte> rawImage;
string tempPath = VideoSourceDevice.GetCurrentPicturePath();
try
{
rawImage = new Image <Rgb, byte>(tempPath);
}
catch (Exception exception)
{
Console.WriteLine(exception);
return;
}
double[] threshold1 = new double[]
{
200
};
double[] threshold2 = new double[]
{
200, 300, 400
};
CannyTextureAnalysisResult textureAnalysisResult = Cv.AutoCannyTextureAnalysis(rawImage, threshold1, threshold2, 0);
float center = textureAnalysisResult.Center;
float diff = textureAnalysisResult.Diff;
// if center is close to 0.5, it means the car direction is nearly towards the path.
float threadhold = 0.02f;
if (Math.Abs(diff) > threadhold)
{
if (diff > threadhold)
{
if (_previousDiff < -threadhold)
{
Arduino.GetInstance().Send(MotorDirection.Forward, 35, MotorDirection.Backward, 35, 200);
}
else
{
Arduino.GetInstance().Send(MotorDirection.Forward, 75, MotorDirection.Backward, 75, 200);
}
}
else if (diff < -threadhold)
{
if (_previousDiff > threadhold)
{
Arduino.GetInstance().Send(MotorDirection.Backward, 35, MotorDirection.Forward, 35, 200);
}
else
{
Arduino.GetInstance().Send(MotorDirection.Backward, 75, MotorDirection.Forward, 75, 200);
}
}
}
else
{
Arduino.GetInstance().Send(MotorDirection.Forward, 75, MotorDirection.Forward, 75, 200);
}
_previousDiff = diff;
}