public static void Main()
{
var serial = new SerialPort("COM1", 9800, Parity.None, 8, StopBits.One);
var power = new PWM(Pins.GPIO_PIN_D9);
var motorIn8 = new OutputPort(Pins.GPIO_PIN_D8, false);
serial.DataReceived += Serial_DataReceived;
motorIn8.Write(true);
while (true)
{
try
{
var value = MotorPower;
if (!serial.IsOpen)
{
serial.Open();
}
power.SetPulse(20000, value);
Thread.Sleep(1000);
}
catch (Exception ex)
{
var mes = ex.Message;
}
}
}
public void Buzz(int milliseconds, int frequency)
{
var period = (uint)(1000000 / frequency);
pwm.SetPulse(period, period / 2);
timer = new Timer(TimerTick, null, milliseconds, 0);
}
public static void Main()
{
var axisX = new AnalogInput(Pins.GPIO_PIN_A0);
var axisY = new AnalogInput(Pins.GPIO_PIN_A1);
var axisZ = new AnalogInput(Pins.GPIO_PIN_A2);
var IrFloorSensor = new AnalogInput(Pins.GPIO_PIN_A3);
var out1 = new OutputPort(Pins.GPIO_PIN_D1, false);
var out2 = new OutputPort(Pins.GPIO_PIN_D12, false);
var in1 = new InputPort(Pins.GPIO_PIN_D2, false, Port.ResistorMode.Disabled);
var in2 = new InputPort(Pins.GPIO_PIN_D4, false, Port.ResistorMode.PullUp);
var servo1 = new PWM(Pins.GPIO_PIN_D9);
servo1.SetDutyCycle(0);
var servo2 = new PWM(Pins.GPIO_PIN_D10);
servo2.SetDutyCycle(0);
var stopWatch = Stopwatch.StartNew();
stopWatch.Start();
int i = 0;
bool digState = false;
while (i < 5000)
{
axisX.Read();
axisY.Read();
axisZ.Read();
IrFloorSensor.Read();
in1.Read();
in2.Read();
digState = !digState;
out1.Write(digState);
out2.Write(digState);
servo1.SetPulse(20000, 1500);
servo2.SetPulse(20000, 1500);
i++;
}
stopWatch.Stop();
Debug.Print("Elapsed: " + stopWatch.ElapsedMilliseconds.ToString());
}
public static void Main()
{
Hashtable scale = new Hashtable();
// low octave
scale.Add("c", 1915u);
scale.Add("d", 1700u);
scale.Add("e", 1519u);
scale.Add("f", 1432u);
scale.Add("g", 1275u);
scale.Add("a", 1136u);
scale.Add("b", 1014u);
// high octave
scale.Add("C", 956u);
scale.Add("D", 851u);
scale.Add("E", 758u);
// silence ("hold note")
scale.Add("h", 0u);
int beatsPerMinute = 90;
int beatTimeInMilliseconds = 60000 / beatsPerMinute; // 60,000 ms per min
int pauseTimeInMilliseconds = (int)(beatTimeInMilliseconds * 0.1);
// define the song(letter of note followed by length of note)
string song = "C1C1C1g1a1a1g2E1E1D1D1C2";
// define the speaker
PWM speaker = new PWM(Pins.GPIO_PIN_D5);
while (true)
{
for (int i = 0; i < song.Length; i += 2)
{
// song loop
// extract each note and its length in beats
string note = song.Substring(i, 1);
int beatCount = int.Parse(song.Substring(i + 1, 1));
// look up the note duration(in microseconds)
uint noteDuration = (uint)scale[note];
// play the note for the desired number of beats
speaker.SetPulse(noteDuration * 2, noteDuration);
Thread.Sleep(beatTimeInMilliseconds * beatCount - pauseTimeInMilliseconds);
// pause for 1/10th of a beat in between every note.
speaker.SetDutyCycle(0);
Thread.Sleep(pauseTimeInMilliseconds);
}
//Thread.Sleep(Timeout.Infinite);
Thread.Sleep(1000);
}
}
public void Rotate(int percent)
{
if (percent < 0 || percent > 100)
{
throw new ArgumentException("percent");
}
var duration = (uint)(_minDuration + (_range / 100) * percent);
_servo.SetPulse(_period, duration);
}
static void sw_OnInterrupt(uint data1, uint data2, DateTime time)
{
led.Write(true);
// write your code here
// move through the full range of positions
for (uint currentPosition = firstPosition;
currentPosition <= lastPosition;
currentPosition += 10)
{
// move the servo to the new position.
servo.SetPulse(20000, currentPosition);
Thread.Sleep(100);
}
// return to first position and wait a half second.
servo.SetPulse(20000, firstPosition);
led.Write(false);
}
public void Rotate(int degrees)
{
if (degrees < 0 || degrees > 180)
{
throw new ArgumentException("percent");
}
_position = degrees;
var duration = (uint)(_minDuration + (_range / 100d) * (degrees / 180d * 100d));
_servo.SetPulse(_period, duration);
}
public static void Main()
{
PWM servo = new PWM((PWM.Pin)FEZ_Pin.PWM.Di5);
InputPort Button;
bool button_state;
Button = new InputPort((Cpu.Pin)FEZ_Pin.Digital.LDR, false, Port.ResistorMode.PullUp);
while (true)
{
button_state = Button.Read();
if (button_state == false)
{
servo.SetPulse(20 * 1000 * 1000, 1450 * 1000);
}
if (button_state == true)
{
servo.SetPulse(20 * 1000 * 1000, 1600 * 1000);
}
/*
* // 0 degrees. 20ms period and 1.00ms high pulse
* Debug.Print("1.00");
* servo.SetPulse(20 * 1000 * 1000, 1000 * 1000);
* Thread.Sleep(5000);
*
* // 90 degrees. 20ms period and 1.50ms high pulse
* Debug.Print("1.50");
* servo.SetPulse(20 * 1000 * 1000, 1500 * 1000);
* Thread.Sleep(5000);
*
* // 180 degrees. 20ms period and 2.00ms high pulse
* Debug.Print("2.10");
* servo.SetPulse(20 * 1000 * 1000, 2100 * 1000);
* Thread.Sleep(5000);
*/
}
}
public static void Main()
{
try {
tftBacklight.SetPulse(0, 0);
//ShowGcStats();
InitializeResources();
ShowKloutSplashScreen();
while (true)
{
SetInternalClock();
ShowTime();
KloutGet(_host, _port, @"/1/users/show.json", _key, _user, @"SD\Cache\show.txt");
KloutGet(_host, _port, @"/1/users/topics.json", _key, _user, @"SD\Cache\topics.txt");
KloutGet(_host, _port, @"/1/soi/influenced_by.json", _key, _user, @"SD\Cache\influenced.txt");
KloutGet(_host, _port, @"/1/soi/influencer_of.json", _key, _user, @"SD\Cache\influencer.txt");
ProcessCachedResults(@"SD\Cache\show.txt", KloutShowHandler);
ProcessCachedResults(@"SD\Cache\topics.txt", KloutTopicsHandler);
ProcessCachedResults(@"SD\Cache\influenced.txt", KloutInfluencedByHandler);
ProcessCachedResults(@"SD\Cache\influencer.txt", KloutInfluencerOfHandler);
ShowKlout();
ShowTime();
//ShowGcStats();
Thread.Sleep(30000);
}
} catch (OutOfMemoryException e) {
PowerState.RebootDevice(false);
}
}
/// <summary>
/// Play an single tone on a given channel
/// </summary>
/// <param name="tone">A RttlTone object</param>
/// <param name="channel">Any PWN pin</param>
public void PlayTone(RttlTone tone, PWM channel)
{
if (tone.Note != 0)
{
channel.SetPulse(tone.Period, tone.Period / 2);
Thread.Sleep(tone.GetDelay(Tempo));
channel.SetDutyCycle(0);
}
else
{
channel.SetDutyCycle(0);
Thread.Sleep(tone.GetDelay(Tempo));
}
}
public static void Main()
{
PWM servo = new PWM((PWM.Pin)FEZ_Pin.PWM.Di5);
LED = new OutputPort((Cpu.Pin)FEZ_Pin.Digital.LED, true);
// the pin will generate interrupt on high and low edges
InterruptPort IntEncoderA = new InterruptPort((Cpu.Pin)FEZ_Pin.Interrupt.An0, true, Port.ResistorMode.Disabled, Port.InterruptMode.InterruptEdgeBoth);
InterruptPort IntEncoderB = new InterruptPort((Cpu.Pin)FEZ_Pin.Interrupt.An1, true, Port.ResistorMode.Disabled, Port.InterruptMode.InterruptEdgeBoth);
// add an interrupt handler to the pin
IntEncoderA.OnInterrupt += new NativeEventHandler(IntEncoderA_OnInterrupt);
IntEncoderB.OnInterrupt += new NativeEventHandler(IntEncoderB_OnInterrupt);
InputPort Button;
bool button_state;
Button = new InputPort((Cpu.Pin)FEZ_Pin.Digital.LDR, false, Port.ResistorMode.PullUp);
while (true)
{
button_state = Button.Read();
if (button_state == false)
{
servo.SetPulse(20 * 1000 * 1000, 1300 * 1000);
}
if (button_state == true)
{
servo.SetPulse(20 * 1000 * 1000, 1500 * 1000);
}
Debug.Print("I: " + i);
}
}
/// <summary>
/// Play a note
/// </summary>
public void PlayNote(uint period, uint duration, int beatCount)
{
if (disposed)
{
throw new ObjectDisposedException("Piezzo buzzer");
}
// Play the note for the desired number of beats
speaker.SetPulse(period, duration);
Thread.Sleep(BeatTimeInMilliseconds * beatCount - PauseTimeInMilliseconds);
// Pause for 1/10th of a beat in between every note.
speaker.SetDutyCycle(0);
Thread.Sleep(PauseTimeInMilliseconds);
}
public static void Main()
{
uint watchdogTimer = 1000;
PWM umbrella = new PWM(Pins.GPIO_PIN_D10); //Right controller
Socket receiveSocket = new Socket(AddressFamily.InterNetwork, SocketType.Dgram, ProtocolType.Udp);
receiveSocket.Bind(new IPEndPoint(IPAddress.Any, 4444));
byte[] rxData = new byte[10]; // Incoming data buffer
double raw_speed = 0;
while (true) /* Main program loop */
{
/* Try to receive new data - spend 100uS waiting */
if (receiveSocket.Poll(100, SelectMode.SelectRead))
{
int rxCount = receiveSocket.Receive(rxData);
watchdogTimer = 0;
}
if (watchdogTimer < 200) // Only enable the robot if data was received recently
{
// 900 (full rev) to 2100 (full fwd), 1500 is neutral
raw_speed += (rxData[0] - 127.5) * .001; // Add the value of the stick to the current speed
// Mediate added speed to negative if it's below center line(on ipgamepad). Make the added speed very little because the mount of UDP packets is large.
// map function only accept input between 0-255
if (raw_speed < 0)
{
raw_speed = 0;
}
else if (raw_speed > 255)
{
raw_speed = 255;
}
// Stick maintains speed unless calibrate changes.
umbrella.SetPulse(20000, map((uint)raw_speed, 0, 255, 1500, 2100)); // Right controller 1500-2100 -- only positive
watchdogTimer++;
}
else
{
// Disable the robot
umbrella.SetDutyCycle(0);
}
}
}
/// <summary>
/// Play a particular frequency for a defined
/// time period
/// </summary>
/// <param name="frequency">The frequency (in hertz) of the note to be played</param>
/// <param name="duration">How long (in milliseconds: 1000 = 1 second) the note is to play for</param>
public void Play(float frequency, int duration)
{
if (!_busy)
{
_busy = true;
// calculate the actual period and turn the
// speaker on for the defined period of time
uint period = (uint)(1000000 / frequency);
_pin.SetPulse(period, period / 2);
Thread.Sleep(duration);
// turn the speaker off
_pin.SetDutyCycle(0);
_busy = false;
}
}
private static void PlaySong()
{
for (int i = 0; i < song.Length; i += 2)
{
// extract each note and its length in beats
string note = song.Substring(i, 1);
int beatCount = int.Parse(song.Substring(i + 1, 1));
// look up the note duration (in microseconds)
uint noteDuration = (uint)scale[note];
// play the note for the desired number of beats
speaker.SetPulse(noteDuration * 2, noteDuration);
Thread.Sleep(
beatTimeInMilliseconds * beatCount - pauseTimeInMilliseconds);
// pause for 1/10th of a beat in between every note.
speaker.SetDutyCycle(0);
Thread.Sleep(pauseTimeInMilliseconds);
}
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="stepsPerRev">The number of steps per complete revolution of the output shaft</param>
/// <param name="port">The port to which the stepper is connected</param>
public Stepper(uint stepsPerRev, StepperPorts port)
{
StepsPerRevolution = stepsPerRev;
stepperPort = port;
currentStep = 0;
microsteps = (uint)microstepCurve.Length;
int latchState = 0;
switch (stepperPort)
{
/*
* case StepperPorts.M1_M2:
* // Turn off all motor pins
* latchState &= ~(1 << (int)MotorBits.Motor1_A) &
* ~(1 << (int)MotorBits.Motor1_B) &
* ~(1 << (int)MotorBits.Motor2_A) &
* ~(1 << (int)MotorBits.Motor2_B);
*
* coilA = new PWM(PwmPins.pwm2A);
* coilB = new PWM(PwmPins.pwm2B);
* break;
*/
case StepperPorts.M3_M4:
// turn off all motor pins
latchState &= ~(1 << (int)MotorBits.Motor3_A) &
~(1 << (int)MotorBits.Motor3_B) &
~(1 << (int)MotorBits.Motor4_A) &
~(1 << (int)MotorBits.Motor4_B);
coilA = new PWM(PwmPins.pwm0B);
coilB = new PWM(PwmPins.pwm0A);
break;
default:
throw new InvalidOperationException("Invalid motor header specified");
}
latch_tx((byte)latchState); // Enable channels
coilA.SetPulse(1000000 / 64000, 0); // 64KHz microstep pwm
coilB.SetPulse(1000000 / 64000, 0); // 64KHz microstep pwm
}
public static void Main()
{
var ledR = new PWM(Pins.GPIO_PIN_D9);
var ledG = new PWM(Pins.GPIO_PIN_D6);
var ledB = new PWM(Pins.GPIO_PIN_D5);
while (true)
{
for (double i = 0; i < 1; i += 0.003)
{
var c = ColorRGB.Hsl2Rgb(i, 1.0, 0.5);
ledR.SetPulse(255, c.R);
ledG.SetPulse(255, c.G);
ledB.SetPulse(255, c.B);
Thread.Sleep(25);
}
}
}
public static void Main()
{
var ledR = new PWM(Pins.GPIO_PIN_D9);
var ledG = new PWM(Pins.GPIO_PIN_D6);
var ledB = new PWM(Pins.GPIO_PIN_D5);
while (true)
{
for (double i = 0; i < 1; i += 0.003)
{
var c = ColorRGB.Hsl2Rgb(i, 1.0, 0.5);
ledR.SetPulse(255, c.R);
ledG.SetPulse(255, c.G);
ledB.SetPulse(255, c.B);
Thread.Sleep(25);
}
}
}
public static void Main()
{
int dashLength = 3;
int pauseBetweenElements = 1;
int pauseBetweenCharacters = 2;
int pauseBetweenWords = 7;
int duration = 90;
PWM speaker = new PWM(Pins.GPIO_PIN_D5);
while (true)
{
foreach (char curChar in "HELLO PO")
{
for (int index = ",ETINAMSDRGUKWOHBL,F,PJVXCQZYAA54A3AAA2AAAAAAA16AAAAAAA7AAA8A90".IndexOf(curChar); index > 0; index /= 2)
{
speaker.SetPulse(851u * 2, 851u);
if ("-."[index-- % 2] == '.')
{
Thread.Sleep(duration);
Debug.Print(".");
}
else
{
Thread.Sleep(duration * dashLength);
Debug.Print("-");
}
speaker.SetDutyCycle(0);
Thread.Sleep(duration * pauseBetweenElements);
}
Thread.Sleep(duration * pauseBetweenCharacters);
Debug.Print(" ");
if (curChar.Equals(' '))
{
Thread.Sleep(duration * pauseBetweenWords);
}
}
Thread.Sleep(1400);
}
}
private void SetPwmValue(double value)
{
// Range checks
if (value > 180)
{
value = 180;
}
if (value < 0)
{
value = 0;
}
// Are we inverted?
if (_inverted)
{
value = 180 - value;
}
// Set the pulse
_servo.SetPulse(20000, (uint)Map((long)value, 0, 180, range[0], range[1]));
}
/// <summary>
/// A DC Motor controller
/// </summary>
/// <param name="header">The header to which the motor is connected</param>
/// <param name="frequency">The PWM frequency (in Hz) at which to drive the motor. Defaults to 10kHz.</param>
public DCMotor(MotorHeaders header, uint frequency = 10000)
{
switch (header)
{
/*
* case MotorHeaders.M1:
* motorBitA = (int)MotorBits.Motor1_A;
* motorBitB = (int)MotorBits.Motor1_B;
* pwm = new PWM(PwmPins.pwm2A);
* break;
* case MotorHeaders.M2:
* motorBitA = (int)MotorBits.Motor2_A;
* motorBitB = (int)MotorBits.Motor2_B;
* pwm = new PWM(PwmPins.pwm2B);
* break;
*/
case MotorHeaders.M3:
motorBitA = (int)MotorBits.Motor3_A;
motorBitB = (int)MotorBits.Motor3_B;
pwm = new PWM(PwmPins.pwm0B);
break;
case MotorHeaders.M4:
motorBitA = (int)MotorBits.Motor4_A;
motorBitB = (int)MotorBits.Motor4_B;
pwm = new PWM(PwmPins.pwm0A);
break;
default:
throw new InvalidOperationException("Invalid motor header specified");
}
latchState &= (byte)(~(1 << motorBitA) & ~(1 << motorBitB));
latch_tx(latchState); // Set both motor pins low
pwm.SetPulse(1000000 / frequency, 0); // Set PWM frequency, but 0% duty cycle
}
public void Drive(int speed)
{
if (speed > 100)
{
speed = 100;
}
if (speed < -100)
{
speed = -100;
}
uint realSpeed = 0;
if (speed > 0)
{
realSpeed = (uint)(1500 * (100 - speed) / 100);
}
if (speed < 0)
{
realSpeed = (uint)(1500 + (1500 * (-100 - speed) * -1 / 100));
}
servo.SetPulse(10000, realSpeed);
}
public static void Main()
{
Thread.Sleep(1000);
led.Write(false);
if (isCharging.Read())
{
PWM printerLight = new PWM(Pins.GPIO_PIN_D5);
printerLight.SetPulse(100, 0);
printerLight.SetDutyCycle(100);
while (true)
{
for (int pulse = 0; pulse < 15; pulse++)
{
for (uint i = 0; i < 100; i++)
{
printerLight.SetDutyCycle(i);
Thread.Sleep(15);
}
for (uint i = 0; i < 100; i++)
{
printerLight.SetDutyCycle(100 - i);
Thread.Sleep(10);
}
Thread.Sleep(2000);
}
}
}
try
{
System.Text.Encoding enc = System.Text.Encoding.UTF8;
int fileNum = randy.Next(19999);
var fileStream = File.Open(@"SD\rand.txt", FileMode.Open);
byte[] randNum = new byte[30];
fileStream.Read(randNum, 0, 30);
int seed = int.Parse(new string(enc.GetChars(randNum)).Trim());
randy = new Random(seed);
fileStream.Close();
fileStream = File.OpenWrite(@"SD\rand.txt");
byte[] tempToWriteInt = enc.GetBytes((seed + 1).ToString() + " ");
fileStream.Write(tempToWriteInt, 0, tempToWriteInt.Length);
fileStream.Close();
var stream = File.Open(@"SD\chain\" + fileNum + ".txt", FileMode.Open, FileAccess.Read);
byte[] buffer = new byte[1024];
stream.Read(buffer, 0, buffer.Length);
stream.Close();
PrintText = new string(enc.GetChars(buffer));
}
catch (Exception e)
{
PrinterTest("Could not access SD Card. Or other issues related to generating text");
}
while (true)
{
iRobotTest();
//there is text to be printed!
// todo: stop robot
// todo: start lights flashing (probably around the printer)
PWM printerLight = new PWM(Pins.GPIO_PIN_D5);
printerLight.SetPulse(100, 0);
printerLight.SetDutyCycle(100);
for (int pulse = 0; pulse < 10; pulse++)
{
for (uint i = 0; i < 100; i++)
{
printerLight.SetDutyCycle(i);
Thread.Sleep(3);
}
for (uint i = 0; i < 100; i++)
{
printerLight.SetDutyCycle(100 - i);
Thread.Sleep(3);
}
}
if (PRINT)
{
Thread.Sleep(1500);
PrintPoem(PrintText);
}
for (int pulse = 0; pulse < 15; pulse++)
{
for (uint i = 0; i < 100; i++)
{
printerLight.SetDutyCycle(i);
Thread.Sleep(10);
}
for (uint i = 0; i < 100; i++)
{
printerLight.SetDutyCycle(100 - i);
Thread.Sleep(10);
}
}
printerLight.SetDutyCycle(0);
PowerState.RebootDevice(false);
}
}
public static void Main()
{
Radio = new SerialPort("COM1", 9600);
Radio.Open();
// Radio.DataReceived += new SerialDataReceivedEventHandler(UART_DataReceived);
uint i = 0;
while (true)
{
if (leftPwr != 0)
{
leftMotor.SetPulse(100000, (uint)(((double)leftPwr / 100) * 90000.0));
}
else
{
leftMotor.SetPulse(100000, 0);
}
if (rightPwr != 0)
{
rightMotor.SetPulse(100000, (uint)(((double)rightPwr / 100) * 90000.0));
}
else
{
rightMotor.SetPulse(100000, 0);
}
//leftMotor.SetPulse(100000, 90000);
Thread.Sleep(1);
string input = "";
// read the data
try
{
read_count = Radio.Read(rx_data, 0, Radio.BytesToRead);
if (read_count > 0)
{
for (int k = 0; k < read_count; k++)
{
if (rx_data[k] == '$')
{
i = 0;
}
else if (rx_data[k] == '*')
{
Radio.Flush();
for (int j = 0; j < i; j++)
{
input += (char)str[j];
}
ParseCommand(input);
i = 0;
read_count = 0;
}
else
{
str[i] = rx_data[k];
i++;
if (i > str.Length)
{
i = 0;
}
}
}
}
}
catch
{
}
}
}
/// <summary>
/// Play an single tone on a given channel
/// </summary>
/// <param name="tone">A RttlTone object</param>
/// <param name="channel">Any PWN pin</param>
public void PlayTone(RttlTone tone, PWM channel)
{
if (tone.Note != 0) {
channel.SetPulse(tone.Period, tone.Period / 2);
Thread.Sleep(tone.GetDelay(Tempo));
channel.SetDutyCycle(0);
} else {
channel.SetDutyCycle(0);
Thread.Sleep(tone.GetDelay(Tempo));
}
}
public override void Update(float throttle)
{
throttle = Logic.Constrain(throttle, _settings.MinimumOutput, _settings.MaximumOutput);
throttle = _settings.MotorScale.Calculate(throttle);
_pwmOutput.SetPulse((uint)throttle);
}
public void TurnOn()
{
uint period = 1654;
_pin.SetPulse(period, period / 2);
}
public void MoveTo(uint position)
{
servo.SetPulse(FiftyHertz, position);
}
