// Algoritam trazenja static bool Search() { LcdConsole.WriteLine("Trazenje predmeta..."); lMotor.ResetTacho(); // Resetuje tacho motora zbog okretanja na kraju rMotor.ResetTacho(); Thread movement = new Thread(SearchMove); movement.IsBackground = true; // Background thread se gasi kada se main zavrsi movement.Start(); progress = 0; while (ir.Read() > C.irScanTreshold && progress < tableLenght) { LcdConsole.WriteLine(ir.Read().ToString()); if (color.Read() == 0) { movement.Abort(); motors.Brake(); throw new Exception("Vrednost senzora za boju je 0!"); } Thread.Sleep(200); } movement.Abort(); motors.Brake(); Thread.Sleep(C.motorBrakeSleepTime); if (progress == tableLenght) { return(false); } else { return(true); } }
// Led Patterns // 0 - Spento // 1 - Verde orizzontale // 2 - Rosso orizzontale // 3 - Arancio orizzontale // 4 - Verde orizzontale // 5 - Rosso orizzontale /// <summary> /// Sensors update thread /// </summary> private void SensorUpdateThread() { Thread.CurrentThread.IsBackground = true; while (!stopSensorUpdate.WaitOne(sensorUpdateSamplingTime)) { // Ev3 Color sensor in reflected light mode reflectedLight = colorSensor.Read(); // Current steering angle and asynchronous feed to the Steering Thread currentSteeringAngle = steerWheel.GetTachoCount(); steerPID.InputSignal = (sbyte)currentSteeringAngle; } }
public static void Main(string[] args) { //AutoFin->false ManualResetEvent terminateProgram = new ManualResetEvent(false); //Motor_Rady LcdConsole.WriteLine("***Motor_Rady***"); Motor motorA = new Motor(MotorPort.OutA); Motor motorD = new Motor(MotorPort.OutD); motorA.Off(); motorD.Off(); motorA.ResetTacho(); motorD.ResetTacho(); //Vehicle_Rady Vehicle vehicle = new Vehicle(MotorPort.OutA, MotorPort.OutD); WaitHandle waitHandle; vehicle.ReverseLeft = false; vehicle.ReverseRight = false; int b = 0; //Sensor_Rady LcdConsole.WriteLine("***Sensor_Rady***"); //Touch_Rady var touchSensor1 = new EV3TouchSensor(SensorPort.In1); var touchSensor2 = new EV3TouchSensor(SensorPort.In4); //UltraSonic_Rady var UltraSonicSensor = new EV3UltrasonicSensor(SensorPort.In3, UltraSonicMode.Centimeter); //Color_Rady EventWaitHandle stopped = new ManualResetEvent(false); ColorMode[] modes = { ColorMode.Color, ColorMode.Reflection, ColorMode.Ambient, ColorMode.Blue }; int modeIdx = 0; var sensor = new EV3ColorSensor(SensorPort.In2, ColorMode.Reflection); //Conection LcdConsole.WriteLine("***Conect_Rady***"); //Http Encoding enc = Encoding.UTF8; string input = "Detect"; string url = "http://nursinghomeexplorer.azurewebsites.net/index.php"; string param = ""; // Hashtable ht = new Hashtable(); ht["langpair"] = "#ja"; ht["hl"] = "en"; ht["text"] = HttpUtility.UrlEncode(input, enc); foreach (string k in ht.Keys) { param += String.Format("{0}={1}&", k, ht[k]); } byte[] data = Encoding.ASCII.GetBytes(param); // HttpWebRequest req = (HttpWebRequest)WebRequest.Create(url); req.Method = "POST"; req.ContentType = "application/x-www-form-urlencoded"; req.ContentLength = data.Length; LcdConsole.WriteLine("***Conected!***"); //timer set System.Diagnostics.Stopwatch sw = new System.Diagnostics.Stopwatch(); long a = 0; //buts ButtonEvents buts = new ButtonEvents(); LcdConsole.WriteLine("Up read BrightLine"); LcdConsole.WriteLine("Down read Floor"); //LcdConsole.WriteLine ("Left Exit program"); //LcdConsole.WriteLine ("Right Exit program"); LcdConsole.WriteLine("Enter change color mode"); LcdConsole.WriteLine("Esc. StartRun"); buts.UpPressed += () => { LcdConsole.WriteLine("Sensor value: " + sensor.ReadAsString()); }; buts.DownPressed += () => { LcdConsole.WriteLine("Raw sensor value: " + sensor.ReadRaw()); }; buts.EnterPressed += () => { modeIdx = (modeIdx + 1) % modes.Length; sensor.Mode = modes[modeIdx]; LcdConsole.WriteLine("Sensor mode is set to: " + modes[modeIdx]); }; //Left_Finish buts.LeftPressed += () => { terminateProgram.Set(); }; //Escape_StartRun buts.EscapePressed += () => { LcdConsole.WriteLine("***StartRun***"); stopped.Set(); //loop_run on the line while (true) { //touchsensor2 Pressed if (touchSensor2.IsPressed() == true) { //motors stop motorA.Brake(); motorD.Brake(); LcdConsole.WriteLine("***Stop***"); //timer start sw.Start(); //after 5sec Thread.Sleep(5000); a = sw.ElapsedMilliseconds; LcdConsole.WriteLine("***Stop_5sec***"); if (a >= 5000) { //timer stop a = 0; sw.Stop(); sw.Reset(); if (touchSensor2.IsPressed() == true) { LcdConsole.WriteLine("***Stop_ISPressed2***"); // Stream reqStream = req.GetRequestStream(); LcdConsole.WriteLine("***Stop_GetReqStream***"); reqStream.Write(data, 0, data.Length); LcdConsole.WriteLine("***Stop_write***"); reqStream.Close(); LcdConsole.WriteLine("***Stop_reqStream.close***"); break; } if (touchSensor1.IsPressed() == true) { // Stream reqStream = req.GetRequestStream(); reqStream.Write(data, 0, data.Length); reqStream.Close(); break; } } else { continue; } } //touchsensor1 pressed if (touchSensor1.IsPressed() == true) { motorA.Brake(); motorD.Brake(); LcdConsole.WriteLine("***Stop***"); //timer start sw.Start(); //after 5sec Thread.Sleep(5000); a = sw.ElapsedMilliseconds; if (a >= 5000) { //timer stop a = 0; sw.Stop(); sw.Reset(); if (touchSensor1.IsPressed() == true) { // Stream reqStream = req.GetRequestStream(); reqStream.Write(data, 0, data.Length); reqStream.Close(); break; } if (touchSensor2.IsPressed() == true) { // Stream reqStream = req.GetRequestStream(); reqStream.Write(data, 0, data.Length); reqStream.Close(); break; } } else { continue; } } //Ultrasonic on if (UltraSonicSensor.Read() <= 30) { motorA.Brake(); motorD.Brake(); LcdConsole.WriteLine("***Stop***"); //timer start sw.Start(); //after 5sec Thread.Sleep(5000); a = sw.ElapsedMilliseconds; if (a >= 5000) { //timer stop a = 0; sw.Stop(); sw.Reset(); if (UltraSonicSensor.Read() <= 30) { // Stream reqStream = req.GetRequestStream(); reqStream.Write(data, 0, data.Length); reqStream.Close(); break; } } else { continue; } } b = sensor.Read(); if (b < 15) { vehicle.TurnRightForward(10, 100); } if (15 <= b && b < 60) { vehicle.TurnLeftForward(10, 60); } if (b >= 60) { waitHandle = vehicle.Forward(10, 0, true); } } }; terminateProgram.WaitOne(); buts.LeftPressed += () => { terminateProgram.Set(); }; }