public MeadowApp()
{
var led = new RgbLed(
Device,
Device.Pins.OnboardLedRed,
Device.Pins.OnboardLedGreen,
Device.Pins.OnboardLedBlue);
led.SetColor(RgbLed.Colors.Red);
up = new PwmLed(Device, Device.Pins.D13, TypicalForwardVoltage.Red);
down = new PwmLed(Device, Device.Pins.D10, TypicalForwardVoltage.Red);
left = new PwmLed(Device, Device.Pins.D11, TypicalForwardVoltage.Red);
right = new PwmLed(Device, Device.Pins.D12, TypicalForwardVoltage.Red);
up.IsOn = down.IsOn = left.IsOn = right.IsOn = false;
var motorLeft = new HBridgeMotor
(
a1Pin: Device.CreatePwmPort(Device.Pins.D05),
a2Pin: Device.CreatePwmPort(Device.Pins.D06),
enablePin: Device.CreateDigitalOutputPort(Device.Pins.D07)
);
var motorRight = new HBridgeMotor
(
a1Pin: Device.CreatePwmPort(Device.Pins.D02),
a2Pin: Device.CreatePwmPort(Device.Pins.D03),
enablePin: Device.CreateDigitalOutputPort(Device.Pins.D04)
);
carController = new CarController(motorLeft, motorRight);
led.SetColor(RgbLed.Colors.Green);
TestCar();
}
public static void Run()
{
var leftMotor = HBridgeMotor.CreateForNetduino(PWMChannels.PWM_PIN_D3, Pins.GPIO_PIN_D1, Pins.GPIO_PIN_D2);
var rightMotor = HBridgeMotor.CreateForNetduino(PWMChannels.PWM_PIN_D6, Pins.GPIO_PIN_D4, Pins.GPIO_PIN_D5);
var robot = new TwoWheeledRobot(leftMotor, rightMotor);
new SineWave(0.1, 0.5, 0.5, updateFrequency: 9).Output.ConnectTo(robot.SpeedInput);
new SineWave(0.5, 0.333, 0, updateFrequency: 11).Output.ConnectTo(robot.DirectionInput);
}
public TachometerApp()
{
this._motor = new HBridgeMotor(N.PWMChannels.PWM_PIN_D3,
N.PWMChannels.PWM_PIN_D5, N.Pins.GPIO_PIN_D4, 50);
this._tach = new LinearHallEffectTachometer(N.Pins.GPIO_PIN_D2);
this._lcd = new SerialLCD(new TextDisplayConfig()
{
Width = 16, Height = 2
});
this._tach.RPMsChanged += RPMsChanged;
}
void InitializePeripherals()
{
ledRed = new Led(N.Pins.GPIO_PIN_D13);
ledGreen = new Led(N.Pins.GPIO_PIN_D12);
ledBlue = new Led(N.Pins.GPIO_PIN_D11);
motorLeft = new HBridgeMotor(N.PWMChannels.PWM_PIN_D3, N.PWMChannels.PWM_PIN_D5, N.Pins.GPIO_PIN_D4);
motorRight = new HBridgeMotor(N.PWMChannels.PWM_PIN_D6, N.PWMChannels.PWM_PIN_D10, N.Pins.GPIO_PIN_D7);
carController = new CarController(motorLeft, motorRight);
ledRed.StartBlink();
}
public MeadowApp()
{
Console.WriteLine("Initializing...");
motor1 = new HBridgeMotor
(
a1Pin: Device.CreatePwmPort(Device.Pins.D07),
a2Pin: Device.CreatePwmPort(Device.Pins.D08),
enablePin: Device.CreateDigitalOutputPort(Device.Pins.D09)
);
TestMotor();
}
public static void Main()
{
//
// Controls server
//
// initialize the serial port for COM1 (using D0 & D1)
// initialize the serial port for COM3 (using D7 & D8)
var serialPort = new SerialPort(SerialPorts.COM3, 57600, Parity.None, 8, StopBits.One);
serialPort.Open();
var server = new ControlServer(serialPort);
//
// Just some diagnostic stuff
//
var uptimeVar = server.RegisterVariable("Uptime (s)", 0);
var lv = false;
var led = new Microsoft.SPOT.Hardware.OutputPort(Pins.ONBOARD_LED, lv);
//
// Make the robot
//
var leftMotor = HBridgeMotor.CreateForNetduino(PWMChannels.PWM_PIN_D3, Pins.GPIO_PIN_D1, Pins.GPIO_PIN_D2);
var rightMotor = HBridgeMotor.CreateForNetduino(PWMChannels.PWM_PIN_D6, Pins.GPIO_PIN_D4, Pins.GPIO_PIN_D5);
var robot = new TwoWheeledRobot(leftMotor, rightMotor);
//
// Expose some variables to control it
//
robot.SpeedInput.ConnectTo(server, writeable: true, name: "Speed");
robot.DirectionInput.ConnectTo(server, writeable: true, name: "Turn");
leftMotor.SpeedInput.ConnectTo(server);
rightMotor.SpeedInput.ConnectTo(server);
//
// Show diagnostics
//
for (var i = 0; true; i++)
{
uptimeVar.Value = i;
led.Write(lv);
lv = !lv;
Thread.Sleep(1000);
}
}
void Initialize()
{
led = new RgbLed(
Device,
Device.Pins.OnboardLedRed,
Device.Pins.OnboardLedGreen,
Device.Pins.OnboardLedBlue);
led.SetColor(RgbLed.Colors.Red);
ledUp = new PwmLed(Device, Device.Pins.D13, TypicalForwardVoltage.Red);
ledDown = new PwmLed(Device, Device.Pins.D10, TypicalForwardVoltage.Red);
ledLeft = new PwmLed(Device, Device.Pins.D11, TypicalForwardVoltage.Red);
ledRight = new PwmLed(Device, Device.Pins.D12, TypicalForwardVoltage.Red);
ledUp.IsOn = ledDown.IsOn = ledLeft.IsOn = ledRight.IsOn = true;
var motorLeft = new HBridgeMotor
(
device: Device,
a1Pin: Device.Pins.D05,
a2Pin: Device.Pins.D06,
enablePin: Device.Pins.D07
);
var motorRight = new HBridgeMotor
(
device: Device,
a1Pin: Device.Pins.D02,
a2Pin: Device.Pins.D03,
enablePin: Device.Pins.D04
);
carController = new CarController(motorLeft, motorRight);
led.SetColor(RgbLed.Colors.Blue);
bleTreeDefinition = GetDefinition();
Device.BluetoothAdapter.StartBluetoothServer(bleTreeDefinition);
up.ValueSet += UpValueSet;
down.ValueSet += DownValueSet;
left.ValueSet += LeftValueSet;
right.ValueSet += RightValueSet;
led.SetColor(RgbLed.Colors.Green);
}
public static void Main()
{
var motor1 = new HBridgeMotor(N.PWMChannels.PWM_PIN_D3, N.PWMChannels.PWM_PIN_D5, N.Pins.GPIO_PIN_D4);
var motor2 = new HBridgeMotor(N.PWMChannels.PWM_PIN_D6, N.PWMChannels.PWM_PIN_D10, N.Pins.GPIO_PIN_D7);
while (true)
{
// set the speed on both motors to 100% forward
motor1.Speed = 1f;
motor2.Speed = 1f;
Thread.Sleep(1000);
motor1.Speed = 0f;
motor2.Speed = 0f;
Thread.Sleep(500);
// 100% reverse
motor1.Speed = -1f;
motor2.Speed = -1f;
Thread.Sleep(1000);
}
}
public static void Main6()
{
//Create our "Blocks"
var leftMotor = HBridgeMotor.CreateForNetduino(PWMChannels.PWM_PIN_D3, Pins.GPIO_PIN_D1, Pins.GPIO_PIN_D2);
var rightMotor = HBridgeMotor.CreateForNetduino(PWMChannels.PWM_PIN_D6, Pins.GPIO_PIN_D4, Pins.GPIO_PIN_D5);
leftMotor.CalibrationInput.Value = 1;
rightMotor.CalibrationInput.Value = 1;
var awesomeBlock = new AwesomeBlock(Pins.ONBOARD_BTN, Pins.ONBOARD_LED, leftMotor, rightMotor);
int i = 0;
while (true)
{
Thread.Sleep(1000); // sleep for 1000ms
Debug.Print("Looping" + i);
i++;
}
}
public MeadowApp()
{
//this.commandButton = new PushButton(Device, Device.Pins.D10, debounceDuration: 50);
//this.commandButton.Clicked += this.CommandButton_Button_Clicked;
////this.commandButton.PressEnded += CommandButton_PressEnded;
//this.debounceTimer.Elapsed += DebounceTimer_Elapsed;
var motorLeft = new HBridgeMotor
(
a1Pin: Device.CreatePwmPort(Device.Pins.D05),
a2Pin: Device.CreatePwmPort(Device.Pins.D06),
enablePin: Device.CreateDigitalOutputPort(Device.Pins.D07)
);
var motorRight = new HBridgeMotor
(
a1Pin: Device.CreatePwmPort(Device.Pins.D02),
a2Pin: Device.CreatePwmPort(Device.Pins.D03),
enablePin: Device.CreateDigitalOutputPort(Device.Pins.D04)
);
carController = new CarController(motorLeft, motorRight);
this.commands[0] = this.Back;
this.commands[1] = this.Right;
this.commands[2] = this.Forward;
this.commands[3] = this.Left;
this.commands[4] = this.Stop;
this.serialPort = Device.CreateSerialMessagePort(Device.SerialPortNames.Com1, suffixDelimiter: Encoding.UTF8.GetBytes("\r\n"), preserveDelimiter: true, baudRate: 115200);
this.serialPort.Open();
this.serialPort.MessageReceived += SerialPort_MessageReceived;
//Console.WriteLine("Serial port " + this.serialPort.PortName + " is " + (this.serialPort.IsOpen ? "open" : "closed"));
this.serialPort.Write(Encoding.UTF8.GetBytes("serial port is open\r\n"));
this.UpdateOnboardLed("red");
Thread.Sleep(Timeout.Infinite);
}
public static void Main6()
{
//Create our "Blocks"
var button = new DigitalInputPin(Pins.ONBOARD_BTN);
var led = new DigitalOutputPin(Pins.ONBOARD_LED);
var leftMotor = HBridgeMotor.CreateForNetduino(PWMChannels.PWM_PIN_D3, Pins.GPIO_PIN_D1, Pins.GPIO_PIN_D2);
leftMotor.CalibrationInput.Value = 1;
var rightMotor = HBridgeMotor.CreateForNetduino(PWMChannels.PWM_PIN_D6, Pins.GPIO_PIN_D4, Pins.GPIO_PIN_D5);
rightMotor.CalibrationInput.Value = 1;
button.Output.ConnectTo(led.Input);
button.Output.ConnectTo(rightMotor.SpeedInput);
button.Output.ConnectTo(leftMotor.SpeedInput);
Thread.Sleep(Timeout.Infinite);
}
void Initialize()
{
var onboardLed = new RgbPwmLed(
device: Device,
redPwmPin: Device.Pins.OnboardLedRed,
greenPwmPin: Device.Pins.OnboardLedGreen,
bluePwmPin: Device.Pins.OnboardLedBlue);
onboardLed.SetColor(Color.Red);
motor = new HBridgeMotor
(
device: Device,
a1Pin: Device.Pins.D05,
a2Pin: Device.Pins.D06,
enablePin: Device.Pins.D09
);
motor.Power = 0f;
rotary = new RotaryEncoder(Device, Device.Pins.D02, Device.Pins.D03);
rotary.Rotated += RotaryRotated;
onboardLed.SetColor(Color.Green);
}
public CarController(HBridgeMotor motorLeft, HBridgeMotor motorRight)
{
_motorLeft = motorLeft;
_motorRight = motorRight;
}
public CarController(HBridgeMotor motorLeft, HBridgeMotor motorRight)
{
this.motorLeft = motorLeft;
this.motorRight = motorRight;
}
public static void Run()
{
//
// Start with the basic robot
//
var leftMotor = HBridgeMotor.CreateForNetduino(PWMChannels.PWM_PIN_D3, Pins.GPIO_PIN_D1, Pins.GPIO_PIN_D2);
var rightMotor = HBridgeMotor.CreateForNetduino(PWMChannels.PWM_PIN_D6, Pins.GPIO_PIN_D4, Pins.GPIO_PIN_D5);
var robot = new TwoWheeledRobot(leftMotor, rightMotor);
//
// Create a range finder and scope it
//
var scope = new DebugScope();
var a0 = new AnalogInputPin(AnalogChannels.ANALOG_PIN_A0, 10);
scope.ConnectTo(a0.Analog);
var sharp = new SharpGP2D12();
a0.Analog.ConnectTo(sharp.AnalogInput);
scope.ConnectTo(sharp.DistanceOutput);
scope.ConnectTo(robot.SpeedInput);
//
// This is the cruising (unobstructed) speed
//
var distanceToSpeed = new Transform(distance => {
const double min = 0.1;
const double max = 0.5;
if (distance > max)
{
return(1.0);
}
else if (distance < min)
{
return(0.0);
}
return((distance - min) / (max - min));
});
distanceToSpeed.Input.ConnectTo(sharp.DistanceOutput);
//
// Take different actions depending on our environment:
// 0: cruising
// 1: collided
//
var sw = new Switch(
new [] {
new Connection(distanceToSpeed.Output, robot.SpeedInput),
new Connection(new SineWave(0.5, 0.333, 0, updateFrequency: 10).Output, robot.DirectionInput),
new Connection(new Constant(0).Output, robot.SpinInput),
},
new[] {
new Connection(new Constant(0.6).Output, robot.SpinInput),
new Connection(new Constant(0).Output, robot.DirectionInput),
new Connection(new Constant(0).Output, robot.SpeedInput),
});
var collided = new Transform(distance => distance < 0.2 ? 1 : 0);
collided.Input.ConnectTo(sharp.DistanceOutput);
collided.Output.ConnectTo(sw.Input);
//
// Loop to keep us alive
//
for (; ;)
{
//Debug.Print ("TwoWheeled Tick");
Thread.Sleep(1000);
}
}
public static void Run()
{
var scope = new DebugScope();
//
// Create the robot
//
var leftMotor = HBridgeMotor.CreateForNetduino(PWMChannels.PWM_PIN_D3, Pins.GPIO_PIN_D1, Pins.GPIO_PIN_D2);
leftMotor.CalibrationInput.Value = 1;
var rightMotor = HBridgeMotor.CreateForNetduino(PWMChannels.PWM_PIN_D6, Pins.GPIO_PIN_D4, Pins.GPIO_PIN_D5);
rightMotor.CalibrationInput.Value = 1;
//
// Create his eyes
//
var leftRange = new SharpGP2D12 {
Name = "LeftRange"
};
var rightRange = new SharpGP2D12 {
Name = "RightRange"
};
leftRange.AnalogInput.ConnectTo(new AnalogInputPin(AnalogChannels.ANALOG_PIN_A0, 10).Analog);
rightRange.AnalogInput.ConnectTo(new AnalogInputPin(AnalogChannels.ANALOG_PIN_A1, 10).Analog);
scope.ConnectTo(leftRange.DistanceOutput);
scope.ConnectTo(rightRange.DistanceOutput);
//
// Now some intelligence
// Each motor is driven by the distance sensor's reading
//
var nearDist = 0.1;
var farDist = 0.5;
var minSpeed = 0.4;
TransformFunction distanceToSpeed = d => {
if (d < nearDist)
{
return(-minSpeed);
}
if (d > farDist)
{
return(1);
}
var a = (d - nearDist) / (farDist - nearDist);
return(a * (1 - minSpeed) + minSpeed);
};
var leftSpeed = new Transform(distanceToSpeed);
leftSpeed.Input.ConnectTo(leftRange.DistanceOutput);
leftSpeed.Output.ConnectTo(leftMotor.SpeedInput);
var rightSpeed = new Transform(distanceToSpeed);
rightSpeed.Input.ConnectTo(rightRange.DistanceOutput);
rightSpeed.Output.ConnectTo(rightMotor.SpeedInput);
}
