public static void Main(string[] args)
{
ManualResetEvent terminateProgram = new ManualResetEvent(false);
var lightSensor = new NXTLightSensor(SensorPort.In1);
ButtonEvents buts = new ButtonEvents();
LcdConsole.WriteLine("Use light on port1");
LcdConsole.WriteLine("Up value ");
LcdConsole.WriteLine("Down change mode");
LcdConsole.WriteLine("Esc. terminate");
buts.EscapePressed += () => {
terminateProgram.Set();
};
buts.UpPressed += () => {
LcdConsole.WriteLine("Sensor value:" + lightSensor.ReadAsString());
};
buts.DownPressed += () => {
if (lightSensor.Mode == LightMode.Ambient)
{
lightSensor.Mode = LightMode.Relection;
}
else
{
lightSensor.Mode = LightMode.Ambient;
}
LcdConsole.WriteLine("Sensor mode is now: " + lightSensor.Mode);
};
terminateProgram.WaitOne();
}
private void configure_sensors()
{
light1 = new NXTLightSensor();
light2 = new NXTLightSensor();
light4 = new NXTLightSensor();
brick.Sensor1 = light1;
brick.Sensor2 = light2;
brick.Sensor4 = light4;
}
private void btnConnect_Click(object sender, EventArgs e)
{
String comPort = "COM" + txtCOM.Text;
try
{
// if brick is already connected then disconnect it
if (brick != null && brick.Connection.IsConnected)
{
MessageBox.Show("Robot is already connected", "Connect error", MessageBoxButtons.OK, MessageBoxIcon.Error);
return;
}
// create brick object and connect it to robot
brick = new Brick <Sensor, Sensor, Sensor, Sensor>(comPort);
brick.Connection.Open();
// light/colour sensor declaration and connect in port 3
sensorLight = new NXTLightSensor();
brick.Sensor3 = sensorLight;
// distance sensor declaration and connect in port 4
sensorDistance = new Sonar();
brick.Sensor4 = sensorDistance;
// update form with brick details
lblConnectStatus.Text = "Connected to NXT Robot " + brick.GetBrickName();
// Set ports for synchronised motor vehicle
brick.Vehicle.LeftPort = MotorPort.OutC;
brick.Vehicle.RightPort = MotorPort.OutA;
// Update form buttons
btnConnect.Enabled = false;
btnDisconnect.Enabled = true;
enableSensors(true);
}
catch
{
MessageBox.Show("Error connecting to robot on " + comPort, "Connect error", MessageBoxButtons.OK, MessageBoxIcon.Error);
// call disconnect in case robot has already connected when error occured
disconnect();
}
}
private async Task TestNXTLight()
{
//NXTTouchSensor touch = new NXTTouchSensor(BrickPortSensor.PORT_S2);
//EV3TouchSensor ev3Touch = new EV3TouchSensor(BrickPortSensor.PORT_S1);
//NXTSoundSensor sound = new NXTSoundSensor(BrickPortSensor.PORT_S4);
NXTLightSensor nxtlight = new NXTLightSensor(brick, BrickPortSensor.PORT_S4);
int count = 0;
while (count < 100)
{
//Debug.WriteLine(string.Format("NXT Touch, Raw: {0}, ReadASString: {1}, IsPressed: {2}, NumberNodes: {3}, SensorName: {4}", touch.ReadRaw(), touch.ReadAsString(), touch.IsPressed(), touch.NumberOfModes(), touch.GetSensorName()));
//Debug.WriteLine(string.Format("EV3 Touch, Raw: {0}, ReadASString: {1}, IsPressed: {2}, NumberNodes: {3}, SensorName: {4}", ev3Touch.ReadRaw(), ev3Touch.ReadAsString(), ev3Touch.IsPressed(), ev3Touch.NumberOfModes(), ev3Touch.GetSensorName()));
//Debug.WriteLine(string.Format("NXT Sound, Raw: {0}, ReadASString: {1}, NumberNodes: {2}, SensorName: {3}", sound.ReadRaw(), sound.ReadAsString(), sound.NumberOfModes(), sound.GetSensorName()));
Debug.WriteLine(string.Format("NXT Color Sensor, Raw: {0}, ReadASString: {1}, NumberNodes: {2}, SensorName: {3}",
nxtlight.ReadRaw(), nxtlight.ReadAsString(), nxtlight.NumberOfModes(), nxtlight.GetSensorName()));
Debug.WriteLine(string.Format("Color: {0}, ",
nxtlight.ReadRaw()));
await Task.Delay(300);
//if ((touch.IsPressed()) && ev3Touch.IsPressed())
count++;
}
count = 0;
nxtlight.SelectNextMode();
while (count < 100)
{
//Debug.WriteLine(string.Format("NXT Touch, Raw: {0}, ReadASString: {1}, IsPressed: {2}, NumberNodes: {3}, SensorName: {4}", touch.ReadRaw(), touch.ReadAsString(), touch.IsPressed(), touch.NumberOfModes(), touch.GetSensorName()));
//Debug.WriteLine(string.Format("EV3 Touch, Raw: {0}, ReadASString: {1}, IsPressed: {2}, NumberNodes: {3}, SensorName: {4}", ev3Touch.ReadRaw(), ev3Touch.ReadAsString(), ev3Touch.IsPressed(), ev3Touch.NumberOfModes(), ev3Touch.GetSensorName()));
//Debug.WriteLine(string.Format("NXT Sound, Raw: {0}, ReadASString: {1}, NumberNodes: {2}, SensorName: {3}", sound.ReadRaw(), sound.ReadAsString(), sound.NumberOfModes(), sound.GetSensorName()));
Debug.WriteLine(string.Format("NXT Color Sensor, Raw: {0}, ReadASString: {1}, NumberNodes: {2}, SensorName: {3}",
nxtlight.ReadRaw(), nxtlight.ReadAsString(), nxtlight.NumberOfModes(), nxtlight.GetSensorName()));
Debug.WriteLine(string.Format("Color: {0}, ",
nxtlight.ReadRaw()));
await Task.Delay(300);
//if ((touch.IsPressed()) && ev3Touch.IsPressed())
count++;
}
}
private String select_sensor_and_command_for_line(int line)
{
monitored_sensor = light1;
if (line == 0)
{
monitored_sensor = light4;
return("A");
}
if (line == 1)
{
return("C");
}
if (line == 2)
{
return("D");
}
if (line == 3)
{
monitored_sensor = light4;
return("B");
}
return("*");
}
private static void TestNXTLight()
{
Console.WriteLine("Run NXT Light sensor test on port 4. Uses all the modes and read 100 times.");
NXTLightSensor nxtlight = new NXTLightSensor(_brick, SensorPort.Port4);
int count = 0;
while (count < 100)
{
Console.WriteLine($"NXT Color Sensor, Raw: {nxtlight.ReadRaw()}, ReadASString: {nxtlight.ReadAsString()}, NumberNodes: {nxtlight.NumberOfModes()}, SensorName: {nxtlight.GetSensorName()}");
Console.WriteLine($"Color: {nxtlight.ReadRaw()}");
Thread.Sleep(300);
count++;
}
count = 0;
nxtlight.SelectNextMode();
while (count < 100)
{
Console.WriteLine($"NXT Color Sensor, Raw: {nxtlight.ReadRaw()}, ReadASString: {nxtlight.ReadAsString()}, NumberNodes: {nxtlight.NumberOfModes()}, SensorName: {nxtlight.GetSensorName()}");
Console.WriteLine($"Color: {nxtlight.ReadRaw()}");
Thread.Sleep(300);
count++;
}
}
