private static string UID = "XYZ"; // Change XYZ to the UID of your Distance IR Bricklet
#endregion Fields
#region Methods
static void Main()
{
IPConnection ipcon = new IPConnection(); // Create IP connection
BrickletDistanceIR dir = new BrickletDistanceIR(UID, ipcon); // Create device object
ipcon.Connect(HOST, PORT); // Connect to brickd
// Don't use device before ipcon is connected
// Get current distance (unit is mm)
int distance = dir.GetDistance();
Console.WriteLine("Distance: " + distance/10.0 + " cm");
Console.WriteLine("Press enter to exit");
Console.ReadLine();
ipcon.Disconnect();
}
private void InitializeDevices()
{
Connection = new IPConnection();
Connection.Connect("localhost", 4223);
ServoBrick = new BrickServo("ap6zRki6edN", Connection);
SetupServoBrick();
DistanceBricklet = new BrickletDistanceIR("8XU", Connection);
var distanceCollection = new ClosestDistanceSensorCollection();
distanceCollection.AddSensor(new ImmediateDistanceIRSensor(DistanceBricklet));
Distances = distanceCollection;
var drivingStrategy = new SimpleDistanceDrivingStrategy(Engine, Distances);
drivingStrategy.MinimumDrivingDistance = 30.Centimeters();
drivingStrategy.ReversalDistance = 11.Centimeters();
drivingStrategy.RefreshInterval = 10;
this.DrivingStrategy = drivingStrategy;
}
static void Main()
{
IPConnection ipcon = new IPConnection(); // Create IP connection
BrickletDistanceIR dir = new BrickletDistanceIR(UID, ipcon); // Create device object
ipcon.Connect(HOST, PORT); // Connect to brickd
// Don't use device before ipcon is connected
// Register distance callback to function DistanceCB
dir.Distance += DistanceCB;
// Set period for distance callback to 0.2s (200ms)
// Note: The distance callback is only called every 0.2 seconds
// if the distance has changed since the last call!
dir.SetDistanceCallbackPeriod(200);
Console.WriteLine("Press enter to exit");
Console.ReadLine();
ipcon.Disconnect();
}
static void Main()
{
IPConnection ipcon = new IPConnection(); // Create IP connection
BrickletDistanceIR dir = new BrickletDistanceIR(UID, ipcon); // Create device object
ipcon.Connect(HOST, PORT); // Connect to brickd
// Don't use device before ipcon is connected
// Get threshold callbacks with a debounce time of 10 seconds (10000ms)
dir.SetDebouncePeriod(10000);
// Register distance reached callback to function DistanceReachedCB
dir.DistanceReached += DistanceReachedCB;
// Configure threshold for distance "smaller than 30 cm" (unit is mm)
dir.SetDistanceCallbackThreshold('<', 30*10, 0);
Console.WriteLine("Press enter to exit");
Console.ReadLine();
ipcon.Disconnect();
}
private static string UID = "XYZ"; // Change XYZ to the UID of your Distance IR Bricklet
#endregion Fields
#region Methods
// Callback function for distance reached callback (parameter has unit mm)
static void DistanceReachedCB(BrickletDistanceIR sender, int distance)
{
Console.WriteLine("Distance: " + distance/10.0 + " cm");
}
