public ObjectTrackingController()
{
ZumoMotorShieldConfig config;
config = new ZumoMotorShieldConfig();
config.LeftMotorDirPin = 5;
config.RightMotorDirPin = 4;
config.LeftPwmChannel = 1;
config.RightPwmChannel = 0;
config.BuzzerPwmChannel = 2;
config.PwmDriverSlaveAddress = 0x40;
watch = new Stopwatch();
motorDriver = new ZumoMotorShield(config);
pixyCam = new PixyCam();
panLoop = new ServoLoop(200, 200);
tiltLoop = new ServoLoop(150, 200);
}
protected async override void OnNavigatedTo(NavigationEventArgs e)
{
if (pixyCam == null)
{
pixyCam = new PixyCam();
// Initialize camera
await pixyCam.Init();
}
if (!isCameraThreadRunning)
{
stopCameraThread = false;
// Set LED to blue
pixyCam.SetLED(0, 0, 255);
// Start reading frames from camera
await ThreadPool.RunAsync((s) =>
{
isCameraThreadRunning = true;
while (!stopCameraThread)
{
var blocks = pixyCam.GetBlocks(10);
if (blocks != null && blocks.Count > 0)
{
var trackedBlock = trackBlock(blocks.ToArray());
if (trackedBlock != null)
{
followBlock(trackedBlock);
updateUI(trackedBlock);
}
}
}
isCameraThreadRunning = false;
});
}
}
public DiagnosticsPage()
{
this.InitializeComponent();
CoordinateHelper.Initialize(mainCanvas.Width, mainCanvas.Height);
pixyCam = new PixyCam();
robot = new Robot();
// Initialize robot's max speed and acceleration
robot.StepperX.MaxSpeed = Config.MOTOR_X_MAX_SPEED;
robot.StepperY.MaxSpeed = Config.MOTOR_Y_MAX_SPEED;
robot.StepperX.Acceleration = Config.MOTOR_X_ACCELERATION;
robot.StepperY.Acceleration = Config.MOTOR_Y_ACCELERATION;
// Adds event listeners for when a goal is scored
robot.HumanGoalSensorTriggered += Robot_HumanGoalSensorTriggered;
robot.RobotGoalSensorTriggered += Robot_RobotGoalSensorTriggered;
initializeUI();
}
