public static void Main() { // Motors Motor motorA = new Motor(Pins.GPIO_PIN_D10, Pins.GPIO_PIN_D12, Pins.GPIO_PIN_D11, Pins.GPIO_PIN_D4, Pins.GPIO_PIN_D5); Motor motorB = new Motor(Pins.GPIO_PIN_D9, Pins.GPIO_PIN_D7, Pins.GPIO_PIN_D8, Pins.GPIO_PIN_D6, Pins.GPIO_PIN_D13); motorA.Reversed = true; motorB.Reversed = false; // Rangers InfraredDistanceSensor irFront = new InfraredDistanceSensor(Pins.GPIO_PIN_A4); InfraredDistanceSensor irBack = new InfraredDistanceSensor(Pins.GPIO_PIN_A5); // Robot and its controller StasisRobot bot = new StasisRobot(motorA, motorB, irFront, irBack); StasisController controller = new StasisController(bot); Timer thinkTimer = new Timer(new TimerCallback(delegate { controller.Think(); }), null, 0, 15); // Keep alive Thread.Sleep(Timeout.Infinite); }
/// <summary> /// Constructor /// </summary> /// <param name="leftMotor"></param> /// <param name="rightMotor"></param> /// <param name="encoders"></param> /// <param name="frontRanger"></param> /// <param name="rearRanger"></param> public StasisRobot(Motor leftMotor, Motor rightMotor, InfraredDistanceSensor frontRanger, InfraredDistanceSensor rearRanger) { this.LeftMotor = leftMotor; this.RightMotor = rightMotor; this.FrontIRSensor = frontRanger; this.RearIRSensor = rearRanger; this.RearIRSensor.Offset = 2.2; }
/// <summary> /// Constructor /// </summary> /// <param name="leftMotor"></param> /// <param name="rightMotor"></param> /// <param name="encoders"></param> /// <param name="frontRanger"></param> /// <param name="rearRanger"></param> public StasisRobot(Motor leftMotor, Motor rightMotor, InfraredDistanceSensor frontRanger, InfraredDistanceSensor rearRanger) { this.LeftMotor = leftMotor; this.RightMotor = rightMotor; this.FrontIRSensor = frontRanger; this.RearIRSensor = rearRanger; this.RearIRSensor.Offset = 2.2; }
public static void Main() { // Motors Motor motorA = new Motor(Pins.GPIO_PIN_D10, Pins.GPIO_PIN_D12, Pins.GPIO_PIN_D11, Pins.GPIO_PIN_D4, Pins.GPIO_PIN_D5); Motor motorB = new Motor(Pins.GPIO_PIN_D9, Pins.GPIO_PIN_D7, Pins.GPIO_PIN_D8, Pins.GPIO_PIN_D6, Pins.GPIO_PIN_D13); motorA.Reversed = true; motorB.Reversed = false; // Rangers InfraredDistanceSensor irFront = new InfraredDistanceSensor(Pins.GPIO_PIN_A4); InfraredDistanceSensor irBack = new InfraredDistanceSensor(Pins.GPIO_PIN_A5); // Robot and its controller StasisRobot bot = new StasisRobot(motorA, motorB, irFront, irBack); StasisController controller = new StasisController(bot); Timer thinkTimer = new Timer(new TimerCallback(delegate { controller.Think(); }), null, 0, 15); // Keep alive Thread.Sleep(Timeout.Infinite); }