/// <summary>
///
/// </summary>
/// <param name="goPiGo">The GoPiGo3 class</param>
/// <param name="port">The Grove Port, need to be in the list of SupportedPorts</param>
public UltraSonicSensor(GoPiGo goPiGo, GrovePort port)
{
if (!SupportedPorts.Contains(port))
{
throw new ArgumentException($"Error: Grove Port not supported");
}
_goPiGo = goPiGo;
Port = port;
_goPiGo.SetGroveType(port, GroveSensorType.Ultrasonic);
}
/// <summary>
/// Create a motor
/// </summary>
/// <param name="brick">GoPiGo3 brick</param>
/// <param name="port">Motor port</param>
/// <param name="timeout">Timeout in milliseconds</param>
public Motor(GoPiGo brick, MotorPort port, int timeout)
{
if (port == MotorPort.Both)
{
throw new ArgumentException($"Motor class can only have 1 motor");
}
_goPiGo = brick;
Port = port;
_periodRefresh = timeout;
_timer = new Timer(UpdateSensor, this, TimeSpan.FromMilliseconds(timeout), TimeSpan.FromMilliseconds(timeout));
}
/// <summary>
///
/// </summary>
/// <param name="goPiGo">The GoPiGo3 class</param>
/// <param name="port">The Grove Port, need to be in the list of SupportedPorts</param>
public DigitalInput(GoPiGo goPiGo, GrovePort port)
{
if (!SupportedPorts.Contains(port))
{
throw new ArgumentException($"Error: Grove Port not supported");
}
_goPiGo = goPiGo;
Port = port;
_goPiGo.SetGroveType(port, GroveSensorType.Custom);
_mode = (port == GrovePort.Grove1) ? GrovePort.Grove1Pin1 : GrovePort.Grove2Pin1;
_goPiGo.SetGroveMode(_mode, GroveInputOutput.InputDigital);
}
/// <summary>
/// Constructor for the generic Analog Sensor
/// </summary>
/// <param name="goPiGo">The GoPiGo3 class</param>
/// <param name="port">The Grove Port, need to be in the list of SupportedPorts</param>
public AnalogSensor(GoPiGo goPiGo, GrovePort port)
{
if (!SupportedPorts.Contains(port))
{
throw new ArgumentException(nameof(port), "Grove port not supported");
}
_goPiGo = goPiGo;
Port = port;
_goPiGo.SetGroveType(port, GroveSensorType.Custom);
_goPiGo.SetGroveMode(port, GroveInputOutput.InputAnalog);
_mode = Port == GrovePort.Grove1 ? GrovePort.Grove1Pin1 : GrovePort.Grove2Pin1;
}
/// <summary>
///
/// </summary>
/// <param name="goPiGo">The GoPiGo3 class</param>
/// <param name="port">The Grove Port, need to be in the list of SupportedPorts</param>
/// <param name="duty">The PWM duty to use to generate the sound from 0 to 100</param>
public Buzzer(GoPiGo goPiGo, GrovePort port, byte duty)
{
if (!SupportedPorts.Contains(port))
{
throw new ArgumentException($"Error: Grove Port not supported");
}
_goPiGo = goPiGo;
Port = port;
_goPiGo.SetGroveType(port, GroveSensorType.Custom);
_mode = (port == GrovePort.Grove1) ? GrovePort.Grove1Pin1 : GrovePort.Grove2Pin1;
_goPiGo.SetGroveMode(_mode, GroveInputOutput.OutputPwm);
Duty = duty;
Value = 24_000; //The default value
Stop();
}
/// <summary>
/// Creates a new instance of <see cref="PotentiometerSensor"/>-
/// </summary>
/// <param name="goPiGo">The GoPiGo3 class</param>
/// <param name="port">The Grove Port, need to be in the list of SupportedPorts</param>
public PotentiometerSensor(GoPiGo goPiGo, GrovePort port)
: base(goPiGo, port)
{
}
/// <summary>
/// Constructor for the Buzzer class
/// </summary>
/// <param name="goPiGo">The GoPiGo3 class</param>
/// <param name="port">The Grove Port, need to be in the list of SupportedPorts</param>
public Buzzer(GoPiGo goPiGo, GrovePort port)
: this(goPiGo, port, 50)
{
}
/// <summary>
/// Create a vehicle with 2 motors, one left and one right
/// </summary>
public Vehicle(GoPiGo goPiGo)
{
_goPiGo = goPiGo;
PortLeft = MotorPort.MotorLeft;
PortRight = MotorPort.MotorRight;
}
public EncoderController(GoPiGo goPiGo)
{
_goPiGo = goPiGo;
}
/// <summary>
/// Test program entry point
/// </summary>
/// <param name="args">Unused</param>
public static void Main(string[] args)
{
Console.WriteLine("Hello GoPiGo3!");
// Default on the Raspberry is Bus ID = 0 and Chip Set Select Line = 1 for GoPiGo3
var settings = new SpiConnectionSettings(0, 1)
{
// 500K is the SPI communication with GoPiGo
ClockFrequency = 500000,
// see http://tightdev.net/SpiDev_Doc.pdf
Mode = SpiMode.Mode0,
DataBitLength = 8
};
_goPiGo3 = new GoPiGo(SpiDevice.Create(settings));
Console.WriteLine("Choose a test by entering the number and press enter:");
Console.WriteLine(" 1. Basic GoPiGo3 info and embedded led test");
Console.WriteLine(" 2. Control left motor from motor right position");
Console.WriteLine(" 3. Read encoder of right motor");
Console.WriteLine(" 4. Test both servo motors");
Console.WriteLine(" 5. Test Ultrasonic sensor on Grove1");
Console.WriteLine(" 6. Test buzzer on Grove1");
Console.WriteLine(" 7. Change buzzer tone on Grove1 with a potentiometer on Grove2");
Console.WriteLine(" 8. Test sound sensor on Grove1");
Console.WriteLine(" 9. Test a relay on Grove1");
Console.WriteLine(" 10. Test a button on Grove1");
Console.WriteLine(" 11. Control a led light on Grove2 from a light sensor on Grove1");
Console.WriteLine(" 12. Test MotorLeft speed based on encoder");
Console.WriteLine(" 13. Test driving the vehicle");
var readCar = Console.ReadLine();
switch (readCar)
{
case "1":
TestGoPiGoDetails();
break;
case "2":
TestMotorPosition();
break;
case "3":
TestMotorEncoder();
break;
case "4":
TestServo();
break;
case "5":
TestUltrasound();
break;
case "6":
TestBuzzer();
break;
case "7":
TestPotentiometer();
break;
case "8":
TestSound();
break;
case "9":
TestRelay();
break;
case "10":
TestButton();
break;
case "11":
TestLedPwmLightSensor();
break;
case "12":
TestMotorTacho();
break;
case "13":
Testvehicle();
break;
default:
break;
}
}
/// <summary>
///
/// </summary>
/// <param name="goPiGo">The GoPiGo3 class</param>
/// <param name="port">The Grove Port, need to be in the list of SupportedPorts</param>
public SoundSensor(GoPiGo goPiGo, GrovePort port) : base(goPiGo, port)
{
}
/// <summary>
/// Constructor of the normal Led class
/// </summary>
/// <param name="goPiGo">The GoPiGo3 class</param>
/// <param name="port">The Grove Port, need to be in the list of SupportedPorts</param>
/// <param name="inverted">If the led is inverted, off when level if high and off when level is low</param>
public Led(GoPiGo goPiGo, GrovePort port, bool inverted)
: base(goPiGo, port, inverted)
{
}
/// <summary>
/// Button constructor
/// </summary>
/// <param name="goPiGo">The GoPiGo3 class</param>
/// <param name="port">The Grove Port, need to be in the list of SupportedPorts</param>
public Button(GoPiGo goPiGo, GrovePort port)
: base(goPiGo, port)
{
}
/// <summary>
/// Constructor for the LedPwm class
/// </summary>
/// <param name="goPiGo">The GoPiGo3 class</param>
/// <param name="port">The Grove Port, need to be in the list of SupportedPorts</param>
public LedPwm(GoPiGo goPiGo, GrovePort port) : this(goPiGo, port, 0)
{
}
/// <summary>
/// Creates a new instance of <see cref="LightSensor"/>.
/// </summary>
/// <param name="goPiGo">The GoPiGo3 class</param>
/// <param name="port">The Grove Port, need to be in the list of SupportedPorts</param>
public LightSensor(GoPiGo goPiGo, GrovePort port)
: base(goPiGo, port)
{
}
internal UltrasonicRangerSensor(GoPiGo device, Pin pin)
{
_device = device;
_pin = pin;
}
public EncoderController(GoPiGo goPiGo)
{
_goPiGo = goPiGo;
}
/// <summary>
/// Create a motor
/// </summary>
/// <param name="brick">GoPiGo3 brick</param>
/// <param name="port">Motor port</param>
public Motor(GoPiGo brick, MotorPort port)
: this(brick, port, 1000)
{
}
internal UltrasonicRangerSensor(GoPiGo device, Pin pin)
{
_device = device;
_pin = pin;
}
/// <summary>
///
/// </summary>
/// <param name="goPiGo">The GoPiGo3 class</param>
/// <param name="port">The Grove Port, need to be in the list of SupportedPorts</param>
public Relay(GoPiGo goPiGo, GrovePort port) : this(goPiGo, port, false)
{
}
/// <summary>
/// Constructor of the normal Led class
/// </summary>
/// <param name="goPiGo">The GoPiGo3 class</param>
/// <param name="port">The Grove Port, need to be in the list of SupportedPorts</param>
public Led(GoPiGo goPiGo, GrovePort port)
: this(goPiGo, port, false)
{
}
/// <summary>
/// Constructor for the LedPwm class
/// </summary>
/// <param name="goPiGo">The GoPiGo3 class</param>
/// <param name="port">The Grove Port, need to be in the list of SupportedPorts</param>
/// <param name="duty">The duty cycle for the led, 100 = full bright, 0 = full dark</param>
public LedPwm(GoPiGo goPiGo, GrovePort port, byte duty) : base(goPiGo, port, duty)
{
}
/// <summary>
///
/// </summary>
/// <param name="goPiGo">The GoPiGo3 class</param>
/// <param name="port">The Grove Port, need to be in the list of SupportedPorts</param>
/// <param name="inverted">If inverted, the relay is on when output is low and off when output is high</param>
public Relay(GoPiGo goPiGo, GrovePort port, bool inverted) : base(goPiGo, port)
{
IsInverted = inverted;
}