/// <summary>
/// this method initializes all needed motors and sensors
/// to control the robot accordingly
/// </summary>
public static void InitRobot()
{
AddEmergencyStopOption();
LeftTrack = new Motor(Constants.LEFT_TRACK_PORT);
RightTrack = new Motor(Constants.RIGHT_TRACK_PORT);
GrapplerRiserMotor = new Motor(Constants.GRAPPLER_RISER_PORT);
GrapplerWheelMotor = new Motor(Constants.GRAPPLER_WHEEL_PORT);
ColorSensor = new EV3ColorSensor(Constants.EV3_COLOR_SENSOR_PORT);
IRSensor = new EV3IRSensor(Constants.IR_SENSOR_PORT);
UltraSonicSensor = new EV3UltrasonicSensor(Constants.ULTRASONIC_SENSOR_PORT);
ColorSensor.Mode = ColorMode.RGB;
UltraSonicSensor.Mode = UltraSonicMode.Centimeter;
GrapplerPosition = GrapplerPosition.Down;
FoodState = FoodState.Searching;
IsInitialized = true;
WaitToFullyBootProgram();
CalibrizeGrappler();
PrintEmptyLine();
WaitForStartButtonPress();
TeamMode = TeamMode.WinnieTeam;
//InitColour();
}
//EV3IRSensor
private async Task TestIRSensor()
{
EV3IRSensor ultra = new EV3IRSensor(brick, BrickPortSensor.PORT_S4, IRMode.Remote);
int count = 0;
while (count < 100)
{
Debug.WriteLine(string.Format("NXT ultra, Remote: {0}, ReadAsString: {1}, NumberNodes: {2}, SensorName: {3}",
ultra.Value, ultra.ReadAsString(), ultra.Mode, ultra.GetSensorName()));
await Task.Delay(300);
count++;
}
ultra.Mode = IRMode.Proximity;
count = 0;
while (count < 10)
{
Debug.WriteLine(string.Format("NXT ultra, Remote: {0}, ReadAsString: {1}, NumberNodes: {2}, SensorName: {3}",
ultra.Value, ultra.ReadAsString(), ultra.Mode, ultra.GetSensorName()));
await Task.Delay(300);
count++;
}
ultra.Mode = IRMode.Seek;
count = 0;
while (count < 10)
{
Debug.WriteLine(string.Format("NXT ultra, Remote: {0}, ReadAsString: {1}, NumberNodes: {2}, SensorName: {3}",
ultra.Value, ultra.ReadAsString(), ultra.Mode, ultra.GetSensorName()));
await Task.Delay(300);
count++;
}
}
public static void Main(string[] args)
{
ButtonEvents buts = new ButtonEvents();
bool run = true;
buts.EscapePressed += () =>
{
run = false;
};
MotorSync motori = new MotorSync(MotorPort.OutB, MotorPort.OutD);
EV3IRSensor ir = new EV3IRSensor(SensorPort.In3, IRMode.Proximity);
Thread bg = new Thread(Scan);
bg.Start();
while (run && ir.Read() > 80)
{
LcdConsole.WriteLine(ir.Read().ToString());
Thread.Sleep(200);
}
bg.Abort();
motori.Brake();
motori.Off();
}
//EV3IRSensor
private async Task TestIRSensor()
{
EV3IRSensor ultra = new EV3IRSensor(BrickPortSensor.PORT_S4, IRMode.Remote);
for (int i = 0; i < ultra.NumberOfModes(); i++)
{
int count = 0;
while (count < 100)
{
Debug.WriteLine(string.Format("NXT ultra, Distance: {0}, ReadAsString: {1}, NumberNodes: {2}, SensorName: {3}",
ultra.ReadBeaconLocation(), ultra.ReadAsString(), ultra.Mode, ultra.GetSensorName()));
await Task.Delay(300);
}
ultra.SelectNextMode();
}
}
public static void Main(string[] args)
{
IRChannel[] channels = { IRChannel.One, IRChannel.Two, IRChannel.Three, IRChannel.Four };
int channelIdx = 0;
ManualResetEvent terminateProgram = new ManualResetEvent(false);
var sensor = new EV3IRSensor(SensorPort.In1);
ButtonEvents buts = new ButtonEvents();
LcdConsole.WriteLine("Use IR on port1");
LcdConsole.WriteLine("Up distance");
LcdConsole.WriteLine("Down beacon location");
LcdConsole.WriteLine("Enter read command");
LcdConsole.WriteLine("Left change channel");
LcdConsole.WriteLine("Right read as string");
LcdConsole.WriteLine("Esc. terminate");
buts.EscapePressed += () => {
terminateProgram.Set();
};
buts.UpPressed += () => {
LcdConsole.WriteLine("Distance " + sensor.ReadDistance() + " cm");
};
buts.EnterPressed += () => {
LcdConsole.WriteLine("Remote command " + sensor.ReadRemoteCommand() + " on channel " + sensor.Channel);
};
buts.DownPressed += () => {
BeaconLocation location = sensor.ReadBeaconLocation();
LcdConsole.WriteLine("Beacon location: " + location.Location + " Beacon distance: " + location.Distance + " cm");
};
buts.LeftPressed += () => {
channelIdx = (channelIdx + 1) % channels.Length;
sensor.Channel = channels[channelIdx];
LcdConsole.WriteLine("Channel is set to: " + channels[channelIdx]);
};
buts.RightPressed += () => {
LcdConsole.WriteLine(sensor.ReadAsString());
};
terminateProgram.WaitOne();
}
public IRSensorLockWrapper(EV3IRSensor sensor)
{
this.sensor = sensor;
}
