//public static void Main()
//{
// using (var a1 = new AnalogInput(Cpu.AnalogChannel.ANALOG_1))
// {
// var last = 0.0d;
// while (Debugger.IsAttached)
// {
// var reading = a1.Read();
// if (reading != last)
// {
// Debug.Print(reading.ToString());
// last = reading;
// }
// }
// }
//}
public static void Main()
{
var wiiChuck = new WiiChuck(true);
var debugMode = Debugger.IsAttached;
_redLed = new OutputPort(Pins.GPIO_PIN_D13, false);
_greenLed = new OutputPort(Pins.GPIO_PIN_A0, false);
_pot = new AnalogInput(Cpu.AnalogChannel.ANALOG_1);
//_speaker = new PWM(Pins.GPIO_PIN_D9);
//_speakerThread = new Thread(PlaySound);
//_speakerThread.Start();
//_servo1 = new ServoController(Mshield.Servo1, 600, 2400, startDegree: 90);
_robot = new TankRobot();
while (!debugMode || Debugger.IsAttached)
{
// try to read the data from nunchucku
if (wiiChuck.GetData())
{
CheckButtons(wiiChuck.CButtonDown, wiiChuck.ZButtonDown);
if (Recording)
{
_iteration++;
SetMotorSpeed(_robot, wiiChuck);
}
else if (PlayingBack)
{
if (_currentPlaybackIndex >= _record.Count)
{
PlayingBack = false;
_currentPlaybackIndex = 0;
}
else
{
_iteration++;
var record = (DataPoint) _record[_currentPlaybackIndex];
if (record.Iterations == _iteration)
{
_currentPlaybackIndex++;
_robot.Move(record.LeftSpeed, record.RightSpeed);
}
}
}
else
{
SetMotorSpeed(_robot, wiiChuck);
}
//var degrees = ((int) (90+(-90*wiiChuck.AccelerationXGs))/2)*2;
//if (degrees < 0)
// degrees = 0;
//else if (degrees > 180)
// degrees = 180;
//_servo1.Rotate(degrees);
//Debug.Print("AccelX = " + wiiChuck.AccelerationXGs + " AccelY=" + wiiChuck.AccelerationYGs);
}
}
wiiChuck.Dispose();
_robot.Dispose();
//_speaker.Dispose();
//_speaker = null;
//_servo1.Dispose();
_redLed.Dispose();
_greenLed.Dispose();
_pot.Dispose();
}
public override void Dispose()
{
_port.Dispose();
_port = null;
}
/// <summary>
/// Calculate Temperature value
/// </summary>
/// <returns>Float value of current Temperature reading</returns>
/// <remarks>Assuming AREF of 3.3v, the default for Rev. B Netduino Plus boards.
/// It's an internal value, no feed to AREF required.
/// Using code tutorial from adafruit http://www.ladyada.net/learn/sensors/thermistor.html </remarks>
private float CalculateTemperature()
{
AnalogInput ain = new AnalogInput(AnalogChannels.ANALOG_PIN_A0);
// take 10 readings to even out the noise
float average = 0.0F;
for (int i = 0; i < 10; i++) { average += (int)ain.Read(); }
average /= 10;
if (average == 0) return 10.0F;
// convert to a resistance
average = 1023 / average - 1;
average = SeriesResistor / average;
// apply steinhart
float tempValue = average / ThermistorNominal;
tempValue = Extensions.Math.Log(tempValue);
tempValue /= BetaCoefficient;
tempValue += 1.0F / (TemperatureNominal + 273.15F);
tempValue = 1.0F / tempValue;
tempValue -= 273.15F;
ain.Dispose();
return tempValue;
}
public void Dispose()
{
_analogInput.Dispose();
}
