/// <summary>
/// Initialize a new NXT Touch sensor
/// </summary>
/// <param name="port">Sensor port</param>
/// <param name="timeout">Period in millisecond to check sensor value changes</param>
public NXTTouchSensor(BrickPortSensor port, int timeout)
{
brick = new Brick();
Port = port;
brick.BrickPi.Sensor[(int)Port].Type = BrickSensorType.TOUCH;
periodRefresh = timeout;
timer = new Timer(UpdateSensor, this, TimeSpan.FromMilliseconds(timeout), TimeSpan.FromMilliseconds(timeout));
}
/// <summary>
/// Initialize a NXT Sound Sensor
/// </summary>
/// <param name="port">Sensor port</param>
/// <param name="timeout">Period in millisecond to check sensor value changes</param>
public NXTSoundSensor(BrickPortSensor port, int timeout)
{
brick = new Brick();
Port = port;
brick.BrickPi.Sensor[(int)Port].Type = (byte)BrickSensorType.SENSOR_RAW;
periodRefresh = timeout;
timer = new Timer(UpdateSensor, this, TimeSpan.FromMilliseconds(timeout), TimeSpan.FromMilliseconds(timeout));
}
/// <summary>
/// Initialize an EV3 Gyro Sensor
/// </summary>
/// <param name="port">Sensor port</param>
/// <param name="mode">Gyro mode</param>
/// <param name="timeout">Period in millisecond to check sensor value changes</param>
public EV3GyroSensor(BrickPortSensor port, GyroMode mode, int timeout)
{
brick = new Brick();
Port = port;
gmode = mode;
brick.BrickPi.Sensor[(int)Port].Type = (BrickSensorType)mode;
periodRefresh = timeout;
timer = new Timer(UpdateSensor, this, TimeSpan.FromMilliseconds(timeout), TimeSpan.FromMilliseconds(timeout));
}
/// <summary>
/// Initilaize an EV3 Color Sensor
/// </summary>
/// <param name="port">Sensor port</param>
/// <param name="mode">Color mode</param>
/// <param name="timeout">Period in millisecond to check sensor value changes</param>
public EV3ColorSensor(BrickPortSensor port, ColorSensorMode mode, int timeout)
{
brick = new Brick();
Port = port;
colorMode = mode;
//set the correct mode
brick.BrickPi.Sensor[(int)Port].Type = GetEV3Mode(mode);
periodRefresh = timeout;
timer = new Timer(UpdateSensor, this, TimeSpan.FromMilliseconds(timeout), TimeSpan.FromMilliseconds(timeout));
}
/// <summary>
/// Initialize an EV3 Ultrasonic Sensor
/// </summary>
/// <param name="port">Sensor port</param>
/// <param name="usmode">Ultrasonic mode</param>
/// <param name="timeout">Period in millisecond to check sensor value changes</param>
public EV3UltraSonicSensor(BrickPortSensor port, UltraSonicMode usmode, int timeout)
{
brick = new Brick();
Port = port;
if (UltraSonicMode.Listen == mode)
mode = UltraSonicMode.Centimeter;
mode = usmode;
brick.BrickPi.Sensor[(int)Port].Type = (BrickSensorType)BrickSensorType.EV3_US_M0;
periodRefresh = timeout;
timer = new Timer(UpdateSensor, this, TimeSpan.FromMilliseconds(timeout), TimeSpan.FromMilliseconds(timeout));
}
/// <summary>
/// Initialize an EV3 Ultrasonic sensor
/// </summary>
/// <param name="port">Sensor mode</param>
/// <param name="usmode">Ultrasonic mode</param>
public EV3UltraSonicSensor(BrickPortSensor port, UltraSonicMode usmode)
: this(port, usmode, 1000)
{
}
/// <summary>
/// Initialize a new NXT Touch sensor
/// </summary>
/// <param name="port">Sensor port</param>
public NXTTouchSensor(BrickPortSensor port) : this(port, 1000)
{
}
/// <summary>
/// Initialize a NXT Ultrasonic sensor
/// </summary>
/// <param name="port">Sensor port</param>
/// <param name="mode">Ultrasonic mode</param>
/// <param name="timeout">Period in millisecond to check sensor value changes</param>
public NXTUltraSonicSensor(BrickPortSensor port, UltraSonicMode mode, int timeout)
{
brick = new Brick();
Port = port;
if (UltraSonicMode.Listen == mode)
mode = UltraSonicMode.Centimeter;
sonarMode = mode;
brick.BrickPi.Sensor[(int)Port].Type = (BrickSensorType)BrickSensorType.ULTRASONIC_CONT;
periodRefresh = timeout;
timer = new Timer(UpdateSensor, this, TimeSpan.FromMilliseconds(timeout), TimeSpan.FromMilliseconds(timeout));
}
/// <summary>
/// Initialize an EV3 Ulrasonic sensor
/// </summary>
/// <param name="port">Sensor port</param>
public EV3UltraSonicSensor(BrickPortSensor port)
: this(port, UltraSonicMode.Centimeter, 1000)
{
}
/// <summary>
/// Initialize a NXT Sound Sensor
/// </summary>
/// <param name="port">Sensor Port</param>
public NXTSoundSensor(BrickPortSensor port)
: this(port, 1000)
{
}
/// <summary>
/// Initialize an EV3 Gyro Sensor
/// </summary>
/// <param name="port">Sensor port</param>
/// <param name="mode">Gyro mode</param>
public EV3GyroSensor(BrickPortSensor port, GyroMode mode):this(port, mode, 1000)
{ }
/// <summary>
/// Initializes an EV3 IS Sensor
/// </summary>
/// <param name="mode">IR mode</param>
public EV3IRSensor(Brick brick, BrickPortSensor port, IRMode mode) : this(brick, port, mode, 1000)
{
}
/// <summary>
/// Initialize a NXT Light Sensor
/// </summary>
/// <param name="port">Sensor port</param>
/// <param name="mode">Light mode</param>
public NXTLightSensor(BrickPortSensor port, LightMode mode)
: this(port, mode, 1000)
{
}
/// <summary>
/// Initialize an EV3 Color Sensor
/// </summary>
/// <param name="port">Sensor port</param>
public EV3ColorSensor(BrickPortSensor port)
: this(port,ColorSensorMode.Color, 1000)
{
}
/// <summary>
/// Initialize an EV3 IR Sensor
/// </summary>
/// <param name="port">Sensor port</param>
public EV3IRSensor(Brick brick, BrickPortSensor port) : this(brick, port, IRMode.Proximity, 1000)
{
}
/// <summary>
/// Initialize an Analog Sensor
/// </summary>
/// <param name="port">Sensor port</param>
public AnalogSensor(BrickPortSensor port) : this(port, 1000)
{
}
/// <summary>
/// Initialize a NXT Color Sensor
/// </summary>
/// <param name="port">Sensor port</param>
/// <param name="mode">Color mode</param>
public NXTColorSensor(BrickPortSensor port, ColorSensorMode mode) : this(port, mode, 1000)
{
}
/// <summary>
/// Initialize an EV3 Gyro Sensor
/// </summary>
/// <param name="port">Sensor port</param>
/// <param name="mode">Gyro mode</param>
public EV3GyroSensor(BrickPortSensor port, GyroMode mode) : this(port, mode, 1000)
{
}
/// <summary>
/// Initialize an EV3 Gyro Sensor
/// </summary>
/// <param name="port">Sensor port</param>
public EV3GyroSensor(BrickPortSensor port) : this(port, GyroMode.Angle)
{
}
/// <summary>
/// Initialize a NXT Sound Sensor
/// </summary>
/// <param name="port">Sensor Port</param>
public NXTSoundSensor(Brick brick, BrickPortSensor port) : this(brick, port, 1000)
{
}
/// <summary>
/// Initialize an EV3 Color Sensor
/// </summary>
/// <param name="port">Sensor port</param>
/// <param name="mode">Color mode</param>
public EV3ColorSensor(BrickPortSensor port, ColorSensorMode mode)
: this(port, mode, 1000)
{
}
/// <summary>
/// Initialize an EV3 Color Sensor
/// </summary>
/// <param name="port">Sensor port</param>
public EV3ColorSensor(BrickPortSensor port) : this(port, ColorSensorMode.Color, 1000)
{
}
/// <summary>
/// Initialize a new NXT Touch sensor
/// </summary>
/// <param name="port">Sensor port</param>
public NXTTouchSensor(BrickPortSensor port)
: this(port, 1000)
{
}
/// <summary>
/// Initialize an EV3 IR Sensor
/// </summary>
/// <param name="port">Sensor port</param>
public EV3IRSensor(BrickPortSensor port)
: this(port, IRMode.Proximity, 1000)
{
}
/// <summary>
/// Initialize a NXT Light Sensor
/// </summary>
/// <param name="port">Sensor port</param>
public NXTLightSensor(BrickPortSensor port)
: this(port, LightMode.Relection, 1000)
{
}
/// <summary>
/// Initializes an EV3 IS Sensor
/// </summary>
/// <param name="mode">IR mode</param>
public EV3IRSensor(BrickPortSensor port, IRMode mode)
: this(port, mode, 1000)
{
}
/// <summary>
/// Initialize a NXT Light Sensor
/// </summary>
/// <param name="port">Sensor port</param>
/// <param name="mode">Light mode</param>
/// <param name="timeout">Period in millisecond to check sensor value changes</param>
public NXTLightSensor(BrickPortSensor port, LightMode mode, int timeout)
{
brick = new Brick();
Port = port;
lightMode = mode;
CutOff = 512;
brick.BrickPi.Sensor[(int)Port].Type = (BrickSensorType)mode;
periodRefresh = timeout;
timer = new Timer(UpdateSensor, this, TimeSpan.FromMilliseconds(timeout), TimeSpan.FromMilliseconds(timeout));
}
/// <summary>
/// Initialize an EV3 IR Sensor
/// </summary>
/// <param name="port">Sensor port</param>
/// <param name="mode">IR mode</param>
/// <param name="timeout">Period in millisecond to check sensor value changes</param>
public EV3IRSensor(BrickPortSensor port, IRMode mode, int timeout)
{
brick = new Brick();
Mode = mode;
Channel = IRChannel.One;
brick.BrickPi.Sensor[(int)Port].Type = (BrickSensorType)mode;
periodRefresh = timeout;
timer = new Timer(UpdateSensor, this, TimeSpan.FromMilliseconds(timeout), TimeSpan.FromMilliseconds(timeout));
}
/// <summary>
/// Initialize a NXT Ultrasonic sensor
/// </summary>
/// <param name="port">Sensor port</param>
/// <param name="mode">Ultrasonic mode</param>
public NXTUltraSonicSensor(BrickPortSensor port, UltraSonicMode mode)
: this(port, mode, 1000)
{
}
/// <summary>
/// Initialize an EV3 Gyro Sensor
/// </summary>
/// <param name="port">Sensor port</param>
public EV3GyroSensor(BrickPortSensor port):this(port, GyroMode.Angle)
{ }
