protected void InitRobot()
{
if (gpio == null) { return; }
leftMotor = new Motor(23, 22);
rightMotor = new Motor(24, 25);
distanceSensors = new IDistance[] {
new UltraSound(26, 20, "right", 50),
new UltraSound(12, 5, "left", 50),
new UltraSound(13, 6, "center", 50),
// new InfraRed(18, "centerIR", 10)
};
}
public Motor Motor(MotorId motor) {
switch (motor) {
case MotorId.MotorOne:
if (motors[0] == null) { motors[0] = new Motor((int)MotorMap.OnePlus, (int)MotorMap.OneMinus); }
return motors[0];
case MotorId.MotorTwo:
if (motors[1] == null) { motors[1] = new Motor((int)MotorMap.TwoPlus, (int)MotorMap.TwoMinus); }
return motors[1];
default:
throw new ArgumentOutOfRangeException();
}
}
public async void Run(IBackgroundTaskInstance taskInstance)
{
_deferral = taskInstance.GetDeferral();
// How to use the ADS1015 and MCP3002 ADC/Converters
AdcProviderManager adcManager = new AdcProviderManager();
adcManager.Providers.Add(new ADS1015(ADS1015.Gain.Volt33)); // Load up ADS1015 4 Channel ADC Converter
adcManager.Providers.Add(new MCP3002()); // Load up MCP3002 2 Channel ADC Converter
IReadOnlyList<AdcController> adcControllers = await adcManager.GetControllersAsync(); // load ADCs
//use the ADCs create above
Ldr light = new Ldr(adcControllers[0].OpenChannel(0)); // create new light sensor using the ADS1015 ADC provider
MCP9700A temp = new MCP9700A(adcControllers[1].OpenChannel(0)); // create temperature sensor using MCP3002 ADC Provider
var lightLevel = light.ReadValue; // read light level from the first ADC ADS1015
var lightRatio = light.ReadRatio;
var celsius = temp.Temperature.DegreesCelsius; // read temp in celsius
var fahrenheit = temp.Temperature.DegreesFahrenheit; // read temp in celsius
BMP280 tempAndPressure = new BMP280();
var degreesCelsius = tempAndPressure.Temperature.DegreesCelsius; // read temp in celsius - plenty of other units
var degreesFahrenheit = tempAndPressure.Temperature.DegreesFahrenheit;
var bars = tempAndPressure.Pressure.Bars; // read air pressure in bars - plenty of other units
var hectopascals = tempAndPressure.Pressure.Hectopascals; // read air pressure in Hectopascals
var Atmospheres = tempAndPressure.Pressure.Atmospheres;
// LED demo
Led led = new Led(4); // open led on pin 4
led.On(); // turn on
await Task.Delay(1000); // wait for 1 second
led.Off(); // turn off
// relay Demo
Relay relay = new Relay(6);
relay.On(); // turn relay on
await Task.Delay(1000); // wait for 1 second
led.Off(); // turn relay off
// motor demo
Motor leftMotor = new Motor(22, 24);
Motor rightMotor = new Motor(12, 25);
//now do a tight circle
leftMotor.Forward();
rightMotor.Backward();
await Task.Delay(5000); // wait for 5 second
leftMotor.Stop();
rightMotor.Stop();
}
