public async Task Initialize(AutomaticSpeakController automaticSpeakController,
byte i2cAddress = 0x60,
int frequency = 100)
{
_automaticSpeakController = automaticSpeakController;
_i2caddress = i2cAddress;
_frequency = frequency;
Motors = new List <Motor>
{
new Motor(this, 0),
new Motor(this, 1),
new Motor(this, 2),
new Motor(this, 3)
};
PwmController = new PwmController(i2cAddress);
await PwmController.Initialize();
PwmController.SetDesiredFrequency(_frequency);
MoveCar(null, new CarMoveCommand
{
ForwardBackward = true,
Speed = 0
});
}
private async Task Initialze()
{
if (LightningProvider.IsLightningEnabled)
{
LowLevelDevicesController.DefaultProvider = LightningProvider.GetAggregateProvider();
}
else
{
throw new Exception("Lightning drivers not enabled. Please enable Lightning drivers.");
}
_camera = new Camera();
await _camera.Initialize();
SpeedSensor.Initialize();
SpeedSensor.Start();
SpeechSynthesis.Initialze();
await AudioPlayerController.Initialize();
_accelerometerSensor = new AccelerometerGyroscopeSensor();
await _accelerometerSensor.Initialize();
_accelerometerSensor.Start();
_automaticSpeakController = new AutomaticSpeakController(_accelerometerSensor);
_motorController = new MotorController();
await _motorController.Initialize(_automaticSpeakController);
_servoController = new ServoController();
await _servoController.Initialize();
_distanceMeasurementSensor = new DistanceMeasurementSensor();
await _distanceMeasurementSensor.Initialize(I2C_ADDRESS_SERVO);
_automaticDrive = new AutomaticDrive(_motorController, _servoController, _distanceMeasurementSensor);
_speechRecognation = new SpeechRecognition();
await _speechRecognation.Initialze(_motorController, _servoController, _automaticDrive);
_speechRecognation.Start();
_gamepadController = new GamepadController(_motorController, _servoController, _automaticDrive, _accelerometerSensor);
_camera.Start();
_httpServerController = new HttpServerController(_motorController, _servoController, _automaticDrive, _camera);
SystemController.Initialize(_accelerometerSensor, _automaticSpeakController, _motorController, _servoController, _automaticDrive, _camera, _httpServerController, _speechRecognation, _gamepadController);
await SystemController.SetAudioRenderVolume(AUDIO_RENDER_VOLUME, true);
await SystemController.SetAudioCaptureVolume(AUDIO_CAPTURE_VOLUME, true);
await AudioPlayerController.PlayAndWaitAsync(AudioName.Welcome);
_automaticSpeakController.Start();
}
public static void Initialize(AccelerometerGyroscopeSensor accelerometerSensor,
AutomaticSpeakController automaticSpeakController,
MotorController motorController,
ServoController servoController,
AutomaticDrive automaticDrive,
Camera camera,
HttpServerController httpServerController,
SpeechRecognition speechRecognation,
GamepadController gamepadController)
{
_accelerometerSensor = accelerometerSensor;
_automaticSpeakController = automaticSpeakController;
_motorController = motorController;
_servoController = servoController;
_automaticDrive = automaticDrive;
_camera = camera;
_httpServerController = httpServerController;
_speechRecognation = speechRecognation;
_gamepadController = gamepadController;
_initialized = true;
}
