private async void Page_Loaded(object sender, RoutedEventArgs e)
{
UpdateUi();
BtnTargetSpeedIncrease.Click += BtnTargetSpeedIncrease_Click;
BtnTargetSpeedDecrease.Click += BtnTargetSpeedDecrease_Click;
BtnToleranceDecreaseKts.Click += BtnToleranceDecreaseKts_Click;
BtnToleranceIncreaseKts.Click += BtnToleranceIncreaseKts_Click;
_servo = new ServoController(5);
await _servo.Connect();
_servo.SetPosition(ServoPosition).AllowTimeToMove(2000).Go();
}
private void ServoControlTask()
{
while (Activated)
{
// Doing this here for now
CalculateSpeedAverages();
var speed = OpertationMode == AutopilotOperationMode.Average && SpeedList.Any()
? SpeedList.Average()
: OpertationMode == AutopilotOperationMode.Track ? TrackSpeed : Speed;
var diff = TargetSpeed - speed;
if (Math.Abs(diff) > ToleranceSpeed && speed > 0)
{
if (diff < 0.0d)
{
ServoPosition -= 1;
LogAsync(string.Format("{0} km/h off; decreasing by 1 degree to {1}", diff, ServoPosition));
}
if (diff > 0.0d && ServoPosition >= 0)
{
ServoPosition += 1;
LogAsync(string.Format("{0} km/h off; increasing by 1 degree to {1}", diff, ServoPosition));
}
ServoController.SetPosition(ServoPosition).AllowTimeToMove(100).Go();
}
else
{
LogAsync(string.Format("Speed of {0} withing tolerance or 0; doing nothing", speed));
}
Task.Delay((int)(ToleranceSeconds * 1000)).Wait();
}
LogAsync("Speed control loop ended. Setting servo back to 0 degree");
ServoPosition = 0;
ServoController.SetPosition(0).AllowTimeToMove(2000).Go();
}
private async void Page_Loaded(object sender, RoutedEventArgs e)
{
ServoPosition = 0;
TargetSpeed = 2.5d;
ToleranceSpeed = 0.1d;
ToleranceSeconds = 1.0d;
BtnTargetSpeedActivate.Click += BtnTargetSpeedActivate_Click;
BtnTargetSpeedIncrease.Click += BtnTargetSpeedIncrease_Click;
BtnTargetSpeedDecrease.Click += BtnTargetSpeedDecrease_Click;
BtnToleranceDecreaseKmh.Click += BtnToleranceDecreaseKmh_Click;
BtnToleranceIncreaseKmh.Click += BtnToleranceIncreaseKmh_Click;
BtnTimeFactorDecrease.Click += BtnTimeFactorDecrease_Click;
BtnTimeFactorIncrease.Click += BtnTimeFactorIncrease_Click;
BtnTest.Click += BtnTest_Click;
TxtDebug.TextChanged += TxtDebug_TextChanged;
var modes = Enum.GetValues(typeof(AutopilotOperationMode)).Cast <AutopilotOperationMode>();
CmbMode.ItemsSource = modes.ToList();
OpertationMode = 0;
CmbMode.SelectedIndex = 0;
CmbMode.SelectionChanged += CmbModeOnSelectionChanged;
// Initialize Gps
try
{
StartGps();
#region Compass Initialize
// TODO: Check I2C connection of RPi
//StartCompass();
//if (Compass.IsConnected())
//{
// _chacheCompassTask = Task.Run(() =>
// {
// while (true)
// {
// CompassData.Add(Compass.GetRawData());
// if (_compassTaskToken.IsCancellationRequested)
// {
// _compassTaskToken.ThrowIfCancellationRequested();
// }
// }
// }, _compassTaskToken);
//}
#endregion
#region ServoController
ServoController = new ServoController(5);
await ServoController.Connect();
ServoController.SetPosition(ServoPosition).AllowTimeToMove(2000).Go();
await Task.Run(async() =>
{
while (UpdatingUi)
{
await Windows.ApplicationModel.Core.CoreApplication.MainView.CoreWindow.Dispatcher.RunAsync(
CoreDispatcherPriority.Normal, () =>
{
UpdateUi();
});
Task.Delay(2000).Wait();
}
});
#endregion
}
catch (Exception ex)
{
System.Diagnostics.Debug.WriteLine(string.Format("Error starting app: {0}", ex.Message));
}
}
private void ServoPositionSlider_Changed(object sender, RangeBaseValueChangedEventArgs e)
{
_servo.SetPosition((int)e.NewValue).AllowTimeToMove(100).Go();
ServoPosition = (int)e.NewValue;
TxtServoPosition.Text = ServoPosition.ToString(CultureInfo.InvariantCulture);
}
