public static void Main (string[] args)
{
EventWaitHandle stopped = new ManualResetEvent(false);
ColorMode[] modes = {ColorMode.Color, ColorMode.Reflection, ColorMode.Ambient, ColorMode.Blue};
int modeIdx = 0;
var sensor = new EV3ColorSensor(SensorPort.In1);
ButtonEvents buts = new ButtonEvents ();
LcdConsole.WriteLine("Use color on port1");
LcdConsole.WriteLine("Up read value");
LcdConsole.WriteLine("Down raw value");
LcdConsole.WriteLine("Enter change mode");
LcdConsole.WriteLine("Esc. terminate");
buts.EscapePressed += () => {
stopped.Set();
};
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]);
};
stopped.WaitOne();
}
public static void Main(string[] args)
{
var sensor = new EV3ColorSensor(SensorPort.In1);
sensor.Mode = ColorMode.RGB;
Motor motorA = new Motor(MotorPort.OutA);
Motor motorB = new Motor(MotorPort.OutB);
Motor motorD = new Motor(MotorPort.OutD);
string solution;
Cube cube = new Cube (motorA, motorB, motorD); // instantiate a real cube
// Cube cube = new Cube (); // virtual cube used for tests
// Solver.Randomizer (cube, 5000); // scramble the virtual cube
DateTime starttime = DateTime.Now;
TimeSpan elapsedtime = new TimeSpan ();
MoveCube.BuildCube2P(cube, MoveCube.BuildCube (cube, motorA, motorB, motorD, sensor));
elapsedtime = DateTime.Now - starttime;
Console.WriteLine (cube.GetCubeMap());
Console.WriteLine (cube.ToString ());
Console.WriteLine ("Elapsed time scanning cube: {0}", elapsedtime);
starttime = DateTime.Now;
// uncomment line below if you want to use the internal algorithm to solve the cube.
// It's the easiest way, but also the slowest.
// solution = Solver.Solve (cube);
// comment the following block if you intend to use the internal algorithm to solve
// the cube. By default the main program tries to read the solution from a solution
// file. Just run the Kociemba algorithm on a pc and use scp, putty or any other ssh
// tool to send the file to the intelligent Lego brick.
Communication.ClearCube (Communication.CubePath);
Communication.ClearCube (Communication.SolutionPath);
Communication.SaveCube (Communication.CubePath, cube.ToString ());
solution = Communication.ReceiveSolution ();
elapsedtime = DateTime.Now - starttime;
Console.WriteLine ("Solution: {0}", solution);
Console.WriteLine ("Elapsed time receiving solution: {0}", elapsedtime);
starttime = DateTime.Now;
Solver.TranslateMove (solution, cube);
Console.WriteLine (cube.GetCubeMap ());
elapsedtime = DateTime.Now - starttime;
Console.WriteLine ("Time elapsed moving cube: {0}", elapsedtime);
Communication.ClearCube (Communication.CubePath);
Communication.ClearCube (Communication.SolutionPath);
}
public static readonly int SensorSide = 87; //79
#endregion Fields
#region Methods
/*
* This method controls the movements of the robot to position
* each face of the cube to be scanned by the color sensor.
*/
public static char[] BuildCube(Cube cube, Motor motorA, Motor motorB, Motor motorD, EV3ColorSensor sensor)
{
char[] faces = new char[6];
// Position face in cube
for (int j = 0; j < 6; j++) {
switch (j) {
case 0:
BuildFace (cube.face[3], motorA, motorB, sensor);
cube.face [3].TurnCWCore ();
cube.face [3].TurnCWCore ();
MoveCube.Move (motorD, MoveCube.GrabArm);
MoveCube.Move (motorD, MoveCube.PullArm);
MoveCube.Move (motorD, MoveCube.RestArm);
break;
case 1:
BuildFace (cube.face[2], motorA, motorB, sensor);
cube.face [2].TurnCWCore ();
MoveCube.Move (motorD, MoveCube.GrabArm);
MoveCube.Move (motorD, MoveCube.PullArm);
MoveCube.Move (motorD, MoveCube.RestArm);
break;
case 2:
BuildFace (cube.face[1], motorA, motorB, sensor);
MoveCube.MoveRel (motorA, MoveCube.CCW90);
MoveCube.Move (motorD, MoveCube.GrabArm);
MoveCube.Move (motorD, MoveCube.PullArm);
MoveCube.Move (motorD, MoveCube.RestArm);
break;
case 3:
BuildFace (cube.face[0], motorA, motorB, sensor);
cube.face [0].TurnCCWCore ();
MoveCube.MoveRel (motorA, MoveCube.CW90);
MoveCube.Move (motorD, MoveCube.GrabArm);
MoveCube.Move (motorD, MoveCube.PullArm);
MoveCube.Move (motorD, MoveCube.RestArm);
break;
case 4:
BuildFace (cube.face [4], motorA, motorB, sensor);
MoveCube.Move (motorD, MoveCube.GrabArm);
MoveCube.Move (motorD, MoveCube.PullArm);
MoveCube.Move (motorD, MoveCube.RestArm);
break;
case 5:
BuildFace (cube.face [5], motorA, motorB, sensor);
break;
}
}
for (int i = 0; i < 6; i++)
faces [i] = cube.face [i].square [1, 1];
return faces;
}
// センサ/モータ
// タッチセンサ 1
// 超音波センサ 2
// カラーセンサ 3
// ジャイロセンサ 4
// 尻尾用モータ A
// 右車輪用モータ B
// 左車輪用モータ C
public EquipmentParameters ()
{
// 車両情報
// ポート番号
TailMoter = new Motor(MotorPort.OutA);
MpRight = new Motor(MotorPort.OutB);
MpLeft = new Motor(MotorPort.OutC);
TouchSensors = new EV3TouchSensor(SensorPort.In1);
// TODO : 超音波センサーはLのみ(Primary)
DistSensors = new EV3UltrasonicSensor(SensorPort.In2, UltraSonicMode.Centimeter);
// 反射
LightSensors = new EV3ColorSensor(SensorPort.In3, ColorMode.Reflection);
GyroSensors = new EV3GyroSensor(SensorPort.In4, GyroMode.AngularVelocity);
}
public static void Main (string[] args)
{
const string to = "*****@*****.**";
const string from = "*****@*****.**";
const string password = "******";
ManualResetEvent terminateProgram = new ManualResetEvent(false);
var colorSensor = new EV3ColorSensor(SensorPort.In1);
ButtonEvents buts = new ButtonEvents ();
SmtpClient smptpClient = new SmtpClient("smtp.gmail.com", 587);
smptpClient.EnableSsl = true;
smptpClient.UseDefaultCredentials = false;
smptpClient.Credentials = new NetworkCredential(from, password);
smptpClient.DeliveryMethod = SmtpDeliveryMethod.Network;
ServicePointManager.ServerCertificateValidationCallback =
delegate(object s, X509Certificate certificate, X509Chain chain, SslPolicyErrors sslPolicyErrors)
{ return true; };
MailMessage message = new MailMessage();
message.To.Add(to);
message.From = new MailAddress(from);
message.Subject = "Color mail from my EV3";
LcdConsole.Clear();
LcdConsole.WriteLine("Use color on port1");
LcdConsole.WriteLine("Enter send mail");
LcdConsole.WriteLine("Esc. terminate");
buts.EscapePressed += () => {
terminateProgram.Set();
};
buts.EnterPressed += () => {
LcdConsole.WriteLine("Sending email");
try{
message.Body = "EV3 read color: " + colorSensor.ReadColor();
smptpClient.Send(message);
LcdConsole.WriteLine("Done sending email");
}
catch(Exception e)
{
LcdConsole.WriteLine("Failed to send email");
Console.WriteLine(e.StackTrace);
}
};
terminateProgram.WaitOne();
message = null;
}
public static void Main (string[] args)
{
ManualResetEvent terminateProgram = new ManualResetEvent (false);
string fbToken = "CAACpSl1Qm3cBAHAMyZAY...";//This is not valied
var fb = new FacebookClient(fbToken);
Font f = Font.MediumFont;
Point offset = new Point(0,25);
Point p = new Point(10, Lcd.Height-75);
Point boxSize = new Point(100, 24);
Rectangle box = new Rectangle(p, p+boxSize);
var colorSensor = new EV3ColorSensor (SensorPort.In1);
ButtonEvents buts = new ButtonEvents ();
LcdConsole.WriteLine("Use color on port1");
LcdConsole.WriteLine("Enter post value");
LcdConsole.WriteLine("Esc. terminate");
buts.EscapePressed += () => {
terminateProgram.Set();
};
buts.EnterPressed += () => {
Color color = colorSensor.ReadColor();
Lcd.Clear();
Lcd.WriteTextBox(f, box + offset*0, "Color: " + color, true);
Lcd.WriteTextBox(f, box + offset*1, "Send to Facebook" + color, true);
Lcd.Update();
colorSensor.ReadColor();
var me = fb.Get("monobrick.dk") as JsonObject;
var uid = me["id"];
string url = string.Format("{0}/{1}", uid, "feed");
var argList = new Dictionary<string, object>();
argList["message"] = "A program running MonoBrick Firmware was aked to read the color sensor. Color read: " + colorSensor.ReadColor().ToString();
fb.Post(url, argList);
};
terminateProgram.WaitOne ();
}
public static ISensor GetSensor(SensorPort port)
{
ISensor sensor = null;
SensorType sensorType = SensorManager.Instance.GetSensorType(port);
ConnectionType connectionType = SensorManager.Instance.GetConnectionType(port);
switch (sensorType)
{
case SensorType.Color:
sensor = new EV3ColorSensor(port);
break;
case SensorType.Gyro:
sensor = new EV3GyroSensor(port);
break;
case SensorType.IR:
sensor = new EV3IRSensor(port);
break;
case SensorType.NXTColor:
sensor = new NXTColorSensor(port);
break;
case SensorType.NXTLight:
sensor = new NXTLightSensor(port);
break;
case SensorType.NXTSound:
sensor = new NXTSoundSensor(port);
break;
case SensorType.NXTTouch:
sensor = new NXTTouchSensor(port);
break;
case SensorType.NXTUltraSonic:
sensor = new NXTUltraSonicSensor(port);
break;
case SensorType.Touch:
sensor = new EV3TouchSensor(port);
break;
case SensorType.UltraSonic:
sensor = new EV3UltrasonicSensor(port);
break;
case SensorType.NXTI2c:
var helper = new I2CHelper(port);
sensor = helper.GetSensor();
break;
case SensorType.Unknown:
if (connectionType == ConnectionType.UART)
{
var uartHelper = new UARTHelper(port);
sensor = uartHelper.GetSensor();
}
if (connectionType == ConnectionType.InputResistor)
{
sensor = new EV3TouchSensor(port);
}
break;
case SensorType.I2CUnknown:
break;
case SensorType.NXTTemperature:
break;
case SensorType.LMotor:
break;
case SensorType.MMotor:
break;
case SensorType.NXTTest:
break;
case SensorType.Terminal:
break;
case SensorType.Test:
break;
case SensorType.Error:
break;
case SensorType.None:
break;
}
return(sensor);
}
public static ISensor GetSensor (SensorPort port)
{
ISensor sensor = null;
SensorType sensorType = SensorManager.Instance.GetSensorType (port);
ConnectionType connectionType = SensorManager.Instance.GetConnectionType (port);
switch (sensorType) {
case SensorType.Color:
sensor = new EV3ColorSensor (port);
break;
case SensorType.Gyro:
sensor = new EV3GyroSensor (port);
break;
case SensorType.IR:
sensor = new EV3IRSensor (port);
break;
case SensorType.NXTColor:
sensor = new NXTColorSensor (port);
break;
case SensorType.NXTLight:
sensor = new NXTLightSensor (port);
break;
case SensorType.NXTSound:
sensor = new NXTSoundSensor (port);
break;
case SensorType.NXTTouch:
sensor = new NXTTouchSensor (port);
break;
case SensorType.NXTUltraSonic:
sensor = new NXTUltraSonicSensor (port);
break;
case SensorType.Touch:
sensor = new EV3TouchSensor (port);
break;
case SensorType.UltraSonic:
sensor = new EV3UltrasonicSensor (port);
break;
case SensorType.NXTI2c:
var helper = new I2CHelper (port);
sensor = helper.GetSensor ();
break;
case SensorType.Unknown:
if (connectionType == ConnectionType.UART) {
var uartHelper = new UARTHelper (port);
sensor = uartHelper.GetSensor ();
}
if (connectionType == ConnectionType.InputResistor) {
sensor = new EV3TouchSensor (port);
}
break;
case SensorType.I2CUnknown:
break;
case SensorType.NXTTemperature:
break;
case SensorType.LMotor:
break;
case SensorType.MMotor:
break;
case SensorType.NXTTest:
break;
case SensorType.Terminal:
break;
case SensorType.Test:
break;
case SensorType.Error:
break;
case SensorType.None:
sensor = new NoSensor (port);
break;
}
if (sensor == null)
{
sensor = new UnknownSensor(port);
}
return sensor;
}
public static RGBColor[] CountFacelets(Motor a, EV3ColorSensor sensor)
{
RGBColor[] colors = new RGBColor[8];
a.ResetTacho();
for (int count = 0; count < 8;)
if (count == a.GetTachoCount () / 45 % 8)
colors [count++] = sensor.ReadRGB ();
return colors;
}
/*
* This method controls the movements of the robot to scan the facelets
* of any single face of the cube.
*/
public static void BuildFace(Face face, Motor motorA, Motor motorB, EV3ColorSensor sensor)
{
RGBColor[] colors = null;
RGBColor color = null;
Thread count = new Thread (() => colors = CountFacelets (motorA, sensor));
MoveCube.Move (motorB, MoveCube.SensorMid, 15);
color = sensor.ReadRGB ();
MoveCube.Move (motorB, MoveCube.SensorSide, 15);
count.Start ();
while (!count.IsAlive);
WaitHandle handle = motorA.SpeedProfile ((sbyte)100, 0, (uint) 360, 0, true);
handle.WaitOne ();
count.Join ();
MoveCube.Move (motorB, MoveCube.SensorRest, 15);
char colorvalue = ' ';
for (int i = 0; i < 9; i++) {
switch (i) {
case 0:
colorvalue = getColorValue (color);
face.square[1,1] = colorvalue;
break;
case 1:
color = colors[0];
colorvalue = getColorValue (color);
face.square[2,1] = colorvalue;
break;
case 3:
color = colors[2];
colorvalue = getColorValue (color);
face.square[1,2] = colorvalue;
break;
case 5:
color = colors[4];
colorvalue = getColorValue (color);
face.square[0,1] = colorvalue;
break;
case 7:
color = colors[6];
colorvalue = getColorValue (color);
face.square[1,0] = colorvalue;
break;
case 2:
color = colors[1];
colorvalue = getColorValue (color);
face.square[2,2] = colorvalue;
break;
case 4:
color = colors[3];
colorvalue = getColorValue (color);
face.square[0,2] = colorvalue;
break;
case 6:
color = colors[5];
colorvalue = getColorValue (color);
face.square[0,0] = colorvalue;
break;
case 8:
color = colors[7];
colorvalue = getColorValue (color);
face.square[2,0] = colorvalue;
break;
}
Console.WriteLine ("Line: {0} Color: {1} RGB code: {2}", i, colorvalue, color);
}
}
