public RoverRobot(ExpansionPlate expansionPlate, IFrameSource <Image <Rgb24> > camera, RoverRobotConfiguration configuration)
{
using var operation = Log.OnEnterAndExit();
operation.Info("configuring platform ", configuration.LeftMotorPort, configuration.RightMotorPort, configuration.PanMotorPort, configuration.TiltMotorPort);
ExpansionPlate = expansionPlate ?? throw new ArgumentNullException(nameof(expansionPlate));
Camera = camera;
DashBoard = new RoverDashboard(expansionPlate.PiTop4Board.Display);
TiltController = new PanTiltController(
ExpansionPlate.GetOrCreateServoMotor(configuration.PanMotorPort),
ExpansionPlate.GetOrCreateServoMotor(configuration.TiltMotorPort)
);
MotionComponent = new SteeringMotorController(
ExpansionPlate.GetOrCreateEncoderMotor(configuration.LeftMotorPort),
ExpansionPlate.GetOrCreateEncoderMotor(configuration.RightMotorPort)
);
FrontRightLed = ExpansionPlate.GetOrCreateLed(DigitalPort.D3, Color.Green);
FrontLeftLed = ExpansionPlate.GetOrCreateLed(DigitalPort.D4, Color.Green);
BackRightLed = ExpansionPlate.GetOrCreateLed(DigitalPort.D0, Color.Red);
BackLeftLed = ExpansionPlate.GetOrCreateLed(DigitalPort.D5, Color.Red);
UltrasoundFront = ExpansionPlate.GetOrCreateUltrasonicSensor(DigitalPort.D7);
UltrasoundBack = ExpansionPlate.GetOrCreateUltrasonicSensor(DigitalPort.D6);
Sound = ExpansionPlate.GetOrCreateSoundSensor(AnaloguePort.A3);
FrontRightLed.Off();
FrontLeftLed.Off();
BackRightLed.Off();
BackLeftLed.Off();
}
public void AllLightsOff()
{
FrontRightLed.Off();
FrontLeftLed.Off();
BackRightLed.Off();
BackLeftLed.Off();
}