public async Task Start()
{
var spheros = await SpheroConnectionProvider.DiscoverSpheros();
var sphero = spheros.FirstOrDefault();
if (sphero != null)
{
var connection = await SpheroConnectionProvider.CreateConnection(sphero);
if (connection != null)
{
connection.OnDisconnection += () => Tracer.Trace("Sphero disconnected");
_device = new SpheroDevice(connection);
Tracer.Trace("Sphero connected");
_device.ReinitMacroExecutive(response =>
{
if (response == MessageResponseCode.ORBOTIX_RSP_CODE_OK)
{
var flipMacro = new Macro(MacroType.Permanent, FLIP_MACRO);
flipMacro.Commands.Add(new SendRawMotorMacroCommand
{
LeftMode = MotorMode.Forward,
LeftPower = 255,
RightMode = MotorMode.Forward,
RightPower = 255,
PCD = 255
});
flipMacro.Commands.Add(new DelayMacroCommand {
Time = 150
});
flipMacro.Commands.Add(new SendRawMotorMacroCommand
{
LeftMode = MotorMode.Off,
LeftPower = 0,
RightMode = MotorMode.Off,
RightPower = 0,
PCD = 255
});
flipMacro.Commands.Add(new SetStabilizationMacroCommand
{
Flag = StabilizationStatus.OnWithoutReset,
PCD = 255
});
_device.SaveMacro(flipMacro, null);
Tracer.Trace("Flip macro stored");
}
});
return;
}
}
Tracer.Error("Sphero not found");
}
public ChangeColorPage()
{
InitializeComponent();
if (App.CurrentConnection != null)
{
MessageBox.Show(string.Format("Connected to {0}", App.CurrentConnection.BluetoothName));
_spheroDevice = new SpheroDevice(App.CurrentConnection);
}
else
{
NavigationService.GoBack();
}
}
public MacroPage()
{
InitializeComponent();
if (App.CurrentConnection != null)
{
MessageBox.Show(string.Format("Connected to {0}", App.CurrentConnection.BluetoothName));
_spheroDevice = new SpheroDevice(App.CurrentConnection);
_spheroDevice.ReinitMacroExecutive(response =>
{
if (response == MessageResponseCode.ORBOTIX_RSP_CODE_OK)
{
Macro flipMacro = new Macro(MacroType.Permanent, 102);
flipMacro.Commands.Add(new SendRawMotorMacroCommand
{
LeftMode = MotorMode.Forward,
LeftPower = 255,
RightMode = MotorMode.Forward,
RightPower = 255,
PCD = 255
});
flipMacro.Commands.Add(new DelayMacroCommand {
Time = 150
});
flipMacro.Commands.Add(new SendRawMotorMacroCommand
{
LeftMode = MotorMode.Off,
LeftPower = 0,
RightMode = MotorMode.Off,
RightPower = 0,
PCD = 255
});
flipMacro.Commands.Add(new SetStabilizationMacroCommand
{
Flag = StabilizationStatus.OnWithoutReset,
PCD = 255
});
_spheroDevice.SaveMacro(flipMacro, null);
}
});
}
else
{
NavigationService.GoBack();
}
}
public DrivePage()
{
InitializeComponent();
if (App.CurrentConnection != null)
{
MessageBox.Show(string.Format("Connected to {0}", App.CurrentConnection.BluetoothName));
_spheroDevice = new SpheroDevice(App.CurrentConnection);
_spheroDevice.SetBackLED(1.0f);
spheroJoystick.Start();
}
else
{
NavigationService.GoBack();
}
}
public CalibrationPage()
{
InitializeComponent();
if (App.CurrentConnection != null)
{
_spheroDevice = new SpheroDevice(App.CurrentConnection);
// OFF Stabilization et set LEDs
_spheroDevice.StabilizationOFF();
_spheroDevice.SetRGBLED(0.5f, 0, 0);
_spheroDevice.SetBackLED(1.0f);
}
else
{
NavigationService.GoBack();
}
}
public IMUReadingPage()
{
InitializeComponent();
if (App.CurrentConnection != null)
{
MessageBox.Show(string.Format("Connected to {0}", App.CurrentConnection.BluetoothName));
_spheroDevice = new SpheroDevice(App.CurrentConnection);
// Initialize SensorData streaming Masks
_spheroDevice.SetDataStreaming(20, 1, Masks.FilteredIMU, 1);
// Subscribe to SensorData event
_spheroDevice.SensorDataNotification += _spheroDevice_SensorDataNotification;
}
else
{
NavigationService.GoBack();
}
}
public DrivePage()
{
InitializeComponent();
if (App.CurrentConnection != null)
{
MessageBox.Show(string.Format("Connected to {0}", App.CurrentConnection.BluetoothName));
_spheroDevice = new SpheroDevice(App.CurrentConnection);
_spheroDevice.SetBackLED(1.0f);
// Configure collision detection and subscribe to detection event
_spheroDevice.ConfigureCollisionDetection(CollisionMethod.Enable, 125, 125, 125, 125, 50);
_spheroDevice.CollisionDetected += _spheroDevice_CollisionDetected;
spheroJoystick.Start();
}
else
{
NavigationService.GoBack();
}
}
internal void SetSphero(SpheroDevice sphero)
{
this._sphero = sphero;
}
