/// <summary>
/// This is where all sensor and motor properties are initialized
/// </summary>
/// <param name="bluetoothPortName"></param>
public Scorpio(string bluetoothPortName)
{
Brick = new AForgeNxtBrickFacade();
BluetoothPortName = bluetoothPortName;
// Sensors:
// 1
TouchSensor = new TouchSensor(Brick, NxtBrick.Sensor.First);
// 2
LightIntensitySensor = new LightSensor(Brick, NxtBrick.Sensor.Second);
// 3 (shared)
SoundLevelSensor = new SoundSensor(Brick, NxtBrick.Sensor.Third);
SoundRatioSensor = new SoundDbaRatioSensor(Brick, NxtBrick.Sensor.Third);
// 4
UltrasonicSensor = new UltrasonicSensor(Brick, NxtBrick.Sensor.Fourth);
// Motor sensors:
// 1
// Motors:
// A,B,C
MotorTail = new Motor(Brick, NxtBrick.Motor.A);
MotorRight = new Motor(Brick, NxtBrick.Motor.B);
MotorLeft = new Motor(Brick, NxtBrick.Motor.C);
// Walk:
WalkBehavior = new TwoMotorWalkBehavior(MotorLeft, MotorRight);
}
public Form1()
{
InitializeComponent();
this.FormClosing += Form1_FormClosing;
_updateUIDelegate = new updateUIDelegate(updateUI);
label1.Text = "X";
label2.Text = "Y";
label3.Text = "Z";
label4.Text = "";
label5.Text = "";
label6.Text = "";
progressBar1.Maximum = maxRange;
progressBar2.Maximum = maxRange;
progressBar3.Maximum = maxRange;
this.Text = "Freipost Hardware Demo";
try
{
us = new UltrasonicSensor();
}
catch (Exception e)
{
MessageBox.Show("Device could not be found " + e.Message);
this.Close();
}
timer = new Timer();
timer.Interval = 1000;
timer.Tick += Timer_Tick;
timer.Start();
}
/// <summary>
/// This is where all sensor and motor properties are initialized
/// </summary>
/// <param name="bluetoothPortName"></param>
public Scorpio(string bluetoothPortName)
{
Brick = new AForgeNxtBrickFacade();
BluetoothPortName = bluetoothPortName;
// Sensors:
// 1
TouchSensor = new TouchSensor(Brick, NxtBrick.Sensor.First);
// 2
LightIntensitySensor = new LightSensor(Brick, NxtBrick.Sensor.Second);
// 3 (shared)
SoundLevelSensor = new SoundSensor(Brick, NxtBrick.Sensor.Third);
SoundRatioSensor = new SoundDbaRatioSensor(Brick, NxtBrick.Sensor.Third);
// 4
UltrasonicSensor = new UltrasonicSensor(Brick, NxtBrick.Sensor.Fourth);
// Motor sensors:
// 1
// Motors:
// A,B,C
MotorTail = new Motor(Brick, NxtBrick.Motor.A);
MotorRight = new Motor(Brick, NxtBrick.Motor.B);
MotorLeft = new Motor(Brick, NxtBrick.Motor.C);
// Walk:
WalkBehavior = new TwoMotorWalkBehavior(MotorLeft, MotorRight);
}
public ButtonTimerHostedService(IPIManager Pimanager)
{
_piManager = Pimanager;
button = new Button(_piManager.grovePi, GrovePort.DigitalPin7);
buzzer = new Buzzer(_piManager.grovePi, GrovePort.DigitalPin6);
buzzer.Value = 10;
lightSensor = new LightSensor(_piManager.grovePi, GrovePort.AnalogPin0);
soundSesnor = new SoundSensor(_piManager.grovePi, GrovePort.AnalogPin1);
ultrasonicSensor = new UltrasonicSensor(_piManager.grovePi, GrovePort.DigitalPin8);
}
public static IProducer <Length> CreateComponent(this UltrasonicSensor ultrasonicSensor, Pipeline pipeline, TimeSpan samplingInterval)
{
if (ultrasonicSensor == null)
{
throw new ArgumentNullException(nameof(ultrasonicSensor));
}
if (pipeline == null)
{
throw new ArgumentNullException(nameof(pipeline));
}
return(Generators.Sequence(pipeline, new Length(0, LengthUnit.Centimeter), _ => ultrasonicSensor.Distance, samplingInterval));
}
static void Main(string[] args)
{
I2cConnectionSettings i2CConnectionSettings = new I2cConnectionSettings(1, GrovePi.DefaultI2cAddress);
GrovePi grovePi = new GrovePi(I2cDevice.Create(i2CConnectionSettings));
UltrasonicSensor sensor = new UltrasonicSensor(grovePi, Iot.Device.GrovePiDevice.Models.GrovePort.DigitalPin7);
while (true)
{
Console.WriteLine(sensor.Value);
Thread.Sleep(200);
}
}
/// <summary>
/// This is where all sensors and motors are stopped
/// </summary>
public void DisconnectAll()
{
// Stop sensing
if (LightIntensitySensor.IsSensing())
{
LightIntensitySensor.StopSensing();
}
if (SoundLevelSensor.IsSensing())
{
SoundLevelSensor.StopSensing();
}
if (SoundRatioSensor.IsSensing())
{
SoundRatioSensor.StopSensing();
}
if (UltrasonicSensor.IsSensing())
{
UltrasonicSensor.StopSensing();
}
if (TouchSensor.IsSensing())
{
TouchSensor.StopSensing();
}
//TODO clear sensors?
// Stop behaviors
if (WalkBehavior.IsWalking)
{
WalkBehavior.Stop();
}
// Stop motors
if (MotorTail.IsRunning)
{
MotorTail.Stop();
}
if (MotorRight.IsRunning)
{
MotorRight.Stop();
}
if (MotorLeft.IsRunning)
{
MotorLeft.Stop();
}
System.Threading.Thread.Sleep(1000);
Brick.Disconnect();
IsConnectionStarted = false;
}
static void Main(string[] args)
{
var us = new UltrasonicSensor();
double x_mm, y_mm, z_mm;
while (true)
{
us.Measure(out x_mm, out y_mm, out z_mm);
Console.WriteLine("X: " + x_mm.ToString() +
" - Y: " + y_mm.ToString() +
" - Z: " + z_mm.ToString());
System.Threading.Thread.Sleep(500);
}
}
private void btnStartMeasure_Click( object sender, RoutedEventArgs e )
{
this.sensor = new UltrasonicSensor( this.viewModel.TriggerPinNumber, this.viewModel.EchoPinNumber );
// Measure and display distance every second.
this.measureTimer.Tick += ( s, args ) =>
{
this.viewModel.Distance = sensor.GetDistance();
};
this.measureTimer.Interval = TimeSpan.FromSeconds( 0.5 );
this.measureTimer.Start();
this.tblDistancePrompt.Visibility = Visibility.Visible;
this.tblDistance.Visibility = Visibility.Visible;
this.pbDistance.Visibility = Visibility.Visible;
}
public Robot(Drivers drivers,
IMoveFree moveFree,
CallbackActions callbackActions)
{
_moveFree = moveFree;
_noActionNotification = callbackActions.NoActionNotification;
_actionNotification = callbackActions.ActionNotification;
UltrasonicSensor = new UltrasonicSensor(drivers.UltraSonicSensorDriver);
FrontSensor = new InfraRedSensor(drivers.InfraRedSensorDriverFront);
BackSensor = new InfraRedSensor(drivers.InfraRedSensorDriverBack);
States = RobotStateFactory.Create(Attack,
MoveFree,
ActionTwo,
ActionThree,
ActionFour,
NoAction);
}
internal static PocketView GetSvg(this UltrasonicSensor ultrasonicSensor)
{
var value = ultrasonicSensor.Distance.ToString("0.##");
return(g(
g[transform: "matrix(0.159967,0,0,0.0762288,-22.0502,-7.71042)"](
CreatePath("M623.239,203.06C623.239,154.054 604.279,114.267 580.926,114.267L186.406,114.267C163.053,114.267 144.093,154.054 144.093,203.06L144.093,550.209C144.093,599.216 163.053,639.003 186.406,639.003L580.926,639.003C604.279,639.003 623.239,599.216 623.239,550.209L623.239,203.06Z", "fill:white;stroke:black;stroke-width:15.96px;")
),
g[transform: "matrix(1,0,0,1,-756.787,-111.913)"](
_.text[x: "768.748px", y: "149.76px", style: TextStyle]("ULTRASOUND")
),
g[@class: "UltrasoundLevel", transform: "matrix(1,0,0,1,-756.787,-120.913)"](
_.text[x: "785px", y: "149.76px", style: TextStyle](value)
),
g[transform: "matrix(1.26023,0,0,1.26023,-975.766,-158.437)"](
_.circle[cx: "788.557", cy: "138.653", r: "8.673", style: "fill:rgb(235,235,235);fill-opacity:0;stroke:black;stroke-width:1.59px;"]()
),
g[transform: "matrix(1.26023,0,0,1.26023,-933.441,-158.437)"](
_.circle[cx: "788.557", cy: "138.653", r: "8.673", style: "fill:rgb(235,235,235);fill-opacity:0;stroke:black;stroke-width:1.59px;"]()
)
));
}
/// <summary>
/// Main entry point
/// </summary>
/// <param name="args">unused</param>
public static void Main(string[] args)
{
Console.WriteLine("Hello GrovePi!");
PinValue relay = PinValue.Low;
I2cConnectionSettings i2CConnectionSettings = new I2cConnectionSettings(1, GrovePi.DefaultI2cAddress);
_grovePi = new GrovePi(I2cDevice.Create(i2CConnectionSettings));
Console.WriteLine($"Manufacturer :{_grovePi.GrovePiInfo.Manufacturer}");
Console.WriteLine($"Board: {_grovePi.GrovePiInfo.Board}");
Console.WriteLine($"Firmware version: {_grovePi.GrovePiInfo.SoftwareVersion}");
// Specific example to show how to read directly a pin without a high level class
_grovePi.PinMode(GrovePort.AnalogPin0, PinMode.Input);
_grovePi.PinMode(GrovePort.DigitalPin2, PinMode.Output);
_grovePi.PinMode(GrovePort.DigitalPin3, PinMode.Output);
_grovePi.PinMode(GrovePort.DigitalPin4, PinMode.Input);
// 2 high level classes
UltrasonicSensor ultrasonic = new UltrasonicSensor(_grovePi, GrovePort.DigitalPin6);
DhtSensor dhtSensor = new DhtSensor(_grovePi, GrovePort.DigitalPin7, DhtType.Dht11);
int poten = 0;
while (!Console.KeyAvailable)
{
Console.Clear();
poten = _grovePi.AnalogRead(GrovePort.AnalogPin0);
Console.WriteLine($"Potentiometer: {poten}");
relay = (relay == PinValue.Low) ? PinValue.High : PinValue.Low;
_grovePi.DigitalWrite(GrovePort.DigitalPin2, relay);
Console.WriteLine($"Relay: {relay}");
_grovePi.AnalogWrite(GrovePort.DigitalPin3, (byte)(poten * 100 / 1023));
Console.WriteLine($"Button: {_grovePi.DigitalRead(GrovePort.DigitalPin4)}");
Console.WriteLine($"Ultrasonic: {ultrasonic}");
dhtSensor.Read();
Console.WriteLine($"{dhtSensor.DhtType}: {dhtSensor}");
Thread.Sleep(2000);
}
}
internal GrovePiAnalogUltrasonic(UltrasonicSensor ultrasonicSensor, string name, int sensorId, GrovePort port, bool rgbDisplay)
: base(name, "cm", sensorId, SensorType.UltrasonicSensor, port, rgbDisplay)
{
_ultrasonicSensor = ultrasonicSensor;
}
public MainPage()
{
this.InitializeComponent();
sensor = new UltrasonicSensor();
timer = new Timer(new TimerCallback(TimerTickAsync), null, 750, 750);
}
