/// <summary>
/// Moves to next mode
/// </summary>
public void SelectNextMode()
{
Mode = Mode.Next();
if (Mode == UltraSonicMode.Listen)
{
Mode = Mode.Next();
}
}
/// <summary>
/// Moves to previous mode
/// </summary>
public void SelectPreviousMode()
{
Mode = Mode.Previous();
if (Mode == UltraSonicMode.Listen)
{
Mode = Mode.Previous();
}
}
public override void SelectPreviousMode()
{
Mode = Mode.Previous();
if (Mode == UltraSonicMode.Listen)
{
Mode = Mode.Previous();
}
return;
}
public override void SelectNextMode()
{
Mode = Mode.Next();
if (Mode == UltraSonicMode.Listen)
{
Mode = Mode.Next();
}
return;
}
/// <summary>
/// Initialize an EV3 Ultrasonic Sensor
/// </summary>
/// <param name="port">Sensor port</param>
/// <param name="usmode">Ultrasonic mode</param>
/// <param name="timeout">Period in millisecond to check sensor value changes</param>
public EV3UltraSonicSensor(BrickPortSensor port, UltraSonicMode usmode, int timeout)
{
brick = new Brick();
Port = port;
if (UltraSonicMode.Listen == mode)
mode = UltraSonicMode.Centimeter;
mode = usmode;
brick.BrickPi.Sensor[(int)Port].Type = (BrickSensorType)BrickSensorType.EV3_US_M0;
periodRefresh = timeout;
timer = new Timer(UpdateSensor, this, TimeSpan.FromMilliseconds(timeout), TimeSpan.FromMilliseconds(timeout));
}
/// <summary>
/// Initialize a NXT Ultrasonic sensor
/// </summary>
/// <param name="port">Sensor port</param>
/// <param name="mode">Ultrasonic mode</param>
/// <param name="timeout">Period in millisecond to check sensor value changes</param>
public NXTUltraSonicSensor(BrickPortSensor port, UltraSonicMode mode, int timeout)
{
brick = new Brick();
Port = port;
if (UltraSonicMode.Listen == mode)
{
mode = UltraSonicMode.Centimeter;
}
sonarMode = mode;
brick.BrickPi.Sensor[(int)Port].Type = (BrickSensorType)BrickSensorType.ULTRASONIC_CONT;
periodRefresh = timeout;
timer = new Timer(UpdateSensor, this, TimeSpan.FromMilliseconds(timeout), TimeSpan.FromMilliseconds(timeout));
}
public MSSensorMUXBase (SensorPort Port, MSSensorMUXPort Address, UltraSonicMode SensorMode) : base (Port, (byte)Address, I2CMode.LowSpeed)
{
base.Initialise ();
if (SensorMode == UltraSonicMode.Centimeter)
Mode = 0;
else if (SensorMode == UltraSonicMode.Inch)
Mode = 1;
else if (SensorMode == UltraSonicMode.Listen)
Mode = 2;
SetSensorMode ();
NumberOfM = 2;
}
/// <summary>
/// Initialize an EV3 Ultrasonic Sensor
/// </summary>
/// <param name="port">Sensor port</param>
/// <param name="usmode">Ultrasonic mode</param>
/// <param name="timeout">Period in millisecond to check sensor value changes</param>
public EV3UltraSonicSensor(Brick brick, SensorPort port, UltraSonicMode usmode, int timeout)
{
_brick = brick;
Port = port;
if (UltraSonicMode.Listen == _mode)
{
_mode = UltraSonicMode.Centimeter;
}
_mode = usmode;
brick.SetSensorType((byte)Port, (SensorType)usmode);
_periodRefresh = timeout;
_timer = new Timer(UpdateSensor, this, TimeSpan.FromMilliseconds(timeout), TimeSpan.FromMilliseconds(timeout));
}
/// <summary>
/// Initialize an EV3 Ultrasonic Sensor
/// </summary>
/// <param name="port">Sensor port</param>
/// <param name="usmode">Ultrasonic mode</param>
/// <param name="timeout">Period in millisecond to check sensor value changes</param>
public EV3UltraSonicSensor(BrickPortSensor port, UltraSonicMode usmode, int timeout)
{
brick = new Brick();
Port = port;
if (UltraSonicMode.Listen == mode)
{
mode = UltraSonicMode.Centimeter;
}
mode = usmode;
brick.BrickPi.Sensor[(int)Port].Type = (BrickSensorType)BrickSensorType.EV3_US_M0;
periodRefresh = timeout;
timer = new Timer(UpdateSensor, this, TimeSpan.FromMilliseconds(timeout), TimeSpan.FromMilliseconds(timeout));
}
/// <summary>
/// Initialize an EV3 Ultrasonic Sensor
/// </summary>
/// <param name="port">Sensor port</param>
/// <param name="usmode">Ultrasonic mode</param>
/// <param name="timeout">Period in millisecond to check sensor value changes</param>
public EV3UltraSonicSensor(Brick brick, BrickPortSensor port, UltraSonicMode usmode, int timeout)
{
this.brick = brick;
Port = port;
if (UltraSonicMode.Listen == mode)
{
mode = UltraSonicMode.Centimeter;
}
mode = usmode;
//brick.BrickPi.Sensor[(int)Port].Type = (BrickSensorType)BrickSensorType.EV3_US_M0;
brick.set_sensor_type((byte)Port, (SENSOR_TYPE)usmode);
periodRefresh = timeout;
timer = new Timer(UpdateSensor, this, TimeSpan.FromMilliseconds(timeout), TimeSpan.FromMilliseconds(timeout));
}
/// <summary>
/// Initialize a NXT Ultrasonic sensor
/// </summary>
/// <param name="port">Sensor port</param>
/// <param name="mode">Ultrasonic mode</param>
/// <param name="timeout">Period in millisecond to check sensor value changes</param>
public NXTUltraSonicSensor(Brick brick, BrickPortSensor port, UltraSonicMode mode, int timeout)
{
this.brick = brick;
Port = port;
if (UltraSonicMode.Listen == mode)
{
mode = UltraSonicMode.Centimeter;
}
sonarMode = mode;
//brick.BrickPi.Sensor[(int)Port].Type = (BrickSensorType)BrickSensorType.ULTRASONIC_CONT;
brick.set_sensor_type((byte)Port, SENSOR_TYPE.NXT_ULTRASONIC);
periodRefresh = timeout;
timer = new Timer(UpdateSensor, this, TimeSpan.FromMilliseconds(timeout), TimeSpan.FromMilliseconds(timeout));
}
private SENSOR_TYPE GetEV3Type(UltraSonicMode usmode)
{
//switch (usmode)
//{
// case UltraSonicMode.Centimeter:
// return BrickSensorType.EV3_US_M0;
// case UltraSonicMode.Inch:
// return BrickSensorType.EV3_US_M1;
// case UltraSonicMode.Listen:
// return BrickSensorType.EV3_US_M2;
// default:
// return BrickSensorType.EV3_US_M0;
//}
return((SENSOR_TYPE)usmode);
}
private BrickSensorType GetEV3Type(UltraSonicMode usmode)
{
switch (usmode)
{
case UltraSonicMode.Centimeter:
return(BrickSensorType.EV3_US_M0);
case UltraSonicMode.Inch:
return(BrickSensorType.EV3_US_M1);
case UltraSonicMode.Listen:
return(BrickSensorType.EV3_US_M2);
default:
return(BrickSensorType.EV3_US_M0);
}
}
public MSSensorMUXBase(SensorPort Port, MSSensorMUXPort Address, UltraSonicMode SensorMode) : base(Port, (byte)Address, I2CMode.LowSpeed)
{
base.Initialise();
if (SensorMode == UltraSonicMode.Centimeter)
{
Mode = 0;
}
else if (SensorMode == UltraSonicMode.Inch)
{
Mode = 1;
}
else if (SensorMode == UltraSonicMode.Listen)
{
Mode = 2;
}
SetSensorMode();
NumberOfM = 2;
}
public override void SelectPreviousMode ()
{
Mode = Mode.Previous();
if(Mode == UltraSonicMode.Listen)
Mode = Mode.Previous();
return;
}
public override void SelectNextMode()
{
Mode = Mode.Next();
if(Mode == UltraSonicMode.Listen)
Mode = Mode.Next();
return;
}
public override void SelectNextMode()
{
Mode = Mode.Next();
return;
}
public override void SelectPreviousMode()
{
Mode = Mode.Previous();
return;
}
/// <summary>
/// Initializes a new instance of the <see cref="MonoBrickFirmware.Sensors.NXTUltraSonicSensor"/> class.
/// </summary>
/// <param name="port">Senosr Port.</param>
/// <param name="mode">Ultrasonic Mode.</param>
public NXTUltraSonicSensor(SensorPort port, UltraSonicMode mode) : base(port,UltraSonicAddress,I2CMode.LowSpeed9V)
{
Mode = mode;
base.Initialise();
}
/// <summary>
/// Initializes a new instance of the EV3 Ultrasonic Sensor.
/// </summary>
/// <param name="mode">Mode.</param>
public EV3UltrasonicSensor(SensorPort port, UltraSonicMode mode) : base(port)
{
base.Initialise(base.uartMode);
Mode = mode;
}
/// <summary>
/// Initialize an EV3 Ultrasonic sensor
/// </summary>
/// <param name="port">Sensor mode</param>
/// <param name="usmode">Ultrasonic mode</param>
public EV3UltraSonicSensor(BrickPortSensor port, UltraSonicMode usmode) : this(port, usmode, 1000)
{
}
/// <summary>
/// Initialize a NXT Ultrasonic sensor
/// </summary>
/// <param name="port">Sensor port</param>
/// <param name="mode">Ultrasonic mode</param>
/// <param name="timeout">Period in millisecond to check sensor value changes</param>
public NXTUltraSonicSensor(BrickPortSensor port, UltraSonicMode mode, int timeout)
{
brick = new Brick();
Port = port;
if (UltraSonicMode.Listen == mode)
mode = UltraSonicMode.Centimeter;
sonarMode = mode;
brick.BrickPi.Sensor[(int)Port].Type = (BrickSensorType)BrickSensorType.ULTRASONIC_CONT;
periodRefresh = timeout;
timer = new Timer(UpdateSensor, this, TimeSpan.FromMilliseconds(timeout), TimeSpan.FromMilliseconds(timeout));
}
public override void SelectNextMode()
{
Mode = Mode.Next();
return;
}
public override void SelectPreviousMode ()
{
Mode = Mode.Previous();
return;
}
/// <summary>
/// Initializes a new instance of the EV3 Ultrasonic Sensor.
/// </summary>
/// <param name="mode">Mode.</param>
public EV3UltrasonicSensor (SensorPort port, UltraSonicMode mode) : base(port)
{
base.Initialise(base.uartMode);
Mode = mode;
}
/// <summary>
/// Initializes a new instance of the <see cref="MonoBrick.NXT.Sonar"/> class.
/// </summary>
/// <param name='mode'>
/// The sonar mode
/// </param>
public NXTUltraSonicSensor(SensorPort port, UltraSonicMode mode) : base(port, UltraSonicAddress, I2CMode.LowSpeed9V)
{
Mode = mode;
base.Initialise();
}
/// <summary>
/// Initialize a NXT Ultrasonic sensor
/// </summary>
/// <param name="port">Sensor port</param>
/// <param name="mode">Ultrasonic mode</param>
public NXTUltraSonicSensor(BrickPortSensor port, UltraSonicMode mode)
: this(port, mode, 1000)
{
}
/// <summary>
/// Initialize a NXT Ultrasonic sensor
/// </summary>
/// <param name="brick">Interface to an instance of <see cref="Brick"/></param>
/// <param name="port">Sensor port</param>
/// <param name="mode">Ultrasonic mode</param>
public NXTUltraSonicSensor(Brick brick, SensorPort port, UltraSonicMode mode)
: this(brick, port, mode, 1000)
{
}
/// <summary>
/// Initialize a NXT Ultrasonic sensor
/// </summary>
/// <param name="port">Sensor port</param>
/// <param name="mode">Ultrasonic mode</param>
public NXTUltraSonicSensor(BrickPortSensor port, UltraSonicMode mode) : this(port, mode, 1000)
{
}
private SensorType GetEV3Type(UltraSonicMode usmode)
{
return((SensorType)usmode);
}
private BrickSensorType GetEV3Type(UltraSonicMode usmode)
{
switch (usmode)
{
case UltraSonicMode.Centimeter:
return BrickSensorType.EV3_US_M0;
case UltraSonicMode.Inch:
return BrickSensorType.EV3_US_M1;
case UltraSonicMode.Listen:
return BrickSensorType.EV3_US_M2;
default:
return BrickSensorType.EV3_US_M0;
}
}
/// <summary>
/// Initialize an EV3 Ultrasonic sensor
/// </summary>
/// <param name="brick">Interface to main Brick component</param>
/// <param name="port">Sensor mode</param>
/// <param name="usmode">Ultrasonic mode</param>
public EV3UltraSonicSensor(Brick brick, SensorPort port, UltraSonicMode usmode)
: this(brick, port, usmode, 1000)
{
}
/// <summary>
/// Initialize an EV3 Ultrasonic sensor
/// </summary>
/// <param name="port">Sensor mode</param>
/// <param name="usmode">Ultrasonic mode</param>
public EV3UltraSonicSensor(BrickPortSensor port, UltraSonicMode usmode)
: this(port, usmode, 1000)
{
}
