//END RC constants
public static void Main()
{
//RC stuff
// Setup steering servo
steering = new Servo(Pins.GPIO_PIN_D9);
// Setup ESC
xl5 = new SpeedController(Pins.GPIO_PIN_D10, new TRAXXAS_XL5());
xl5.DriveMode = SpeedController.DriveModes.Forward;
//End RC stuff
Listener webServer = new Listener(RequestReceived);
OutputPort led = new OutputPort(Pins.ONBOARD_LED, false);
while (true)
{
// Blink LED to show we're still responsive
led.Write(!led.Read());
Thread.Sleep(500);
}
}
public static void Main()
{
// Setup steering servo
steering = new Servo(Pins.GPIO_PIN_D9);
// Setup ESC
xl5 = new SpeedController(Pins.GPIO_PIN_D10, new TRAXXAS_XL5());
xl5.DriveMode = SpeedController.DriveModes.Forward;
// Setup PPM decoder channels
//throttleChannel = new PPM_Channel(Pins.GPIO_PIN_D7);
//steeringChannel = new PPM_Channel(Pins.GPIO_PIN_D6);
// Set the servo channel to proper output scaling
//steeringChannel.calibrateOutput(0, 180);
// Sweep the wheels from left to right
for (int i = 0; i <= 30; i++)
{
steering.Degree = i * 6;
Thread.Sleep(30);
}
// Center steering
steering.Degree = 90.5;
// Switch to RC control mode
while (true)
{
// Set the steering servo to the PPM wave
//steering.Degree = steeringChannel.Read;
steering.Degree = 0;
// Get the throttle input
//int throttleIn = throttleChannel.Read;
int throttleIn = 50;
// Figure out which direction we are going
if (throttleIn >= 0)
xl5.DriveMode = SpeedController.DriveModes.Forward;
else
{
// Set ESC to reverse
//xl5.DriveMode = SpeedController.DriveModes.Reverse;
// Flip the negative to a positive
//throttleIn = throttleIn * -1;
// For now, let's just pull the throttle all the way out
xl5.Throttle = 0;
}
// Are we going too fast?
if (throttleIn > speedLimit)
throttleIn = speedLimit;
// Set the throttle
xl5.Throttle = throttleIn;
}
}
public static void Main()
{
// write your code here
servo = new Servo(Pins.GPIO_PIN_D9);
servo.Degree = servo_degree;
greenled = new OutputPort(Pins.GPIO_PIN_D3, true);
blueled = new OutputPort(Pins.GPIO_PIN_D4, true);
redled = new OutputPort(Pins.GPIO_PIN_D5, true);
whitebutton = new OutputPort(Pins.GPIO_PIN_D0, true);
blackbutton = new OutputPort(Pins.GPIO_PIN_D1, true);
redbutton = new OutputPort(Pins.GPIO_PIN_D2, true);
bluebutton = new OutputPort(Pins.GPIO_PIN_D6, true);
greenbutton = new OutputPort(Pins.GPIO_PIN_D7, true);
yellowbutton = new OutputPort(Pins.GPIO_PIN_D8, true);
bool whitestate = false;
bool whitestate_prev = false;
bool blackstate = false;
bool blackstate_prev = false;
bool redstate = false;
bool redstate_prev = false;
bool bluestate = false;
bool bluestate_prev = false;
bool greenstate = false;
bool greenstate_prev = false;
bool yellowstate = false;
bool yellowstate_prev = false;
while (true)
{
if (AcceptInput)
{
whitestate = whitebutton.Read();
if ((whitestate_prev == true) && (whitestate == false))
{
WhitePressed();
RecordAndCheckUserStep(3);
}
whitestate_prev = whitestate;
blackstate = blackbutton.Read();
if ((blackstate_prev == true) && (blackstate == false))
BlackPressed();
blackstate_prev = blackstate;
yellowstate = yellowbutton.Read();
if ((yellowstate_prev == true) && (yellowstate == false))
{
YellowPressed();
RecordAndCheckUserStep(4);
}
yellowstate_prev = yellowstate;
redstate = redbutton.Read();
if ((redstate_prev == true) && (redstate == false))
{
TurnOffLED(COLORS.RED);
RecordAndCheckUserStep(0);
}
else if ((redstate_prev == false) && (redstate == true))
TurnOnLED(COLORS.RED);
redstate_prev = redstate;
bluestate = bluebutton.Read();
if ((bluestate_prev == true) && (bluestate == false))
{
TurnOffLED(COLORS.BLUE);
RecordAndCheckUserStep(2);
}
else if ((bluestate_prev == false) && (bluestate == true))
TurnOnLED(COLORS.BLUE);
bluestate_prev = bluestate;
greenstate = greenbutton.Read();
if ((greenstate_prev == true) && (greenstate == false))
{
TurnOffLED(COLORS.GREEN);
RecordAndCheckUserStep(1);
}
else if ((greenstate_prev == false) && (greenstate == true))
TurnOnLED(COLORS.GREEN);
greenstate_prev = greenstate;
}
}
}
