static void Main(string[] args)
{
var left1 = ConnectorPin.P1Pin26.Output();
var left2 = ConnectorPin.P1Pin21.Output();
var right1 = ConnectorPin.P1Pin24.Output();
var right2 = ConnectorPin.P1Pin19.Output();
var ultrasonic = ConnectorPin.P1Pin08.Input();
var servoBase = ConnectorPin.P1Pin22.Output();
var servoPitch = ConnectorPin.P1Pin18.Output();
var leftMotor = ConnectorPin.P1Pin07.Input().OnStatusChanged(b => Evt("Left Motor", b));
var rightMotor = ConnectorPin.P1Pin11.Input().OnStatusChanged(b => Evt("Right Motor", b));
var irLeft = ConnectorPin.P1Pin12.Input().OnStatusChanged(b => Evt("Left IR", b));
var irRight = ConnectorPin.P1Pin13.Input().OnStatusChanged(b => Evt("Right IR", b));
var lineLeft = ConnectorPin.P1Pin16.Input().OnStatusChanged(b => Evt("Left Line", b));
var lineRight = ConnectorPin.P1Pin15.Input().OnStatusChanged(b => Evt("Right Line", b));
var connection = new GpioConnection(left1, left2, right1, right2, irLeft, irRight, lineLeft, lineRight, leftMotor, rightMotor, servoBase, servoPitch, ultrasonic);
connection.Open();
var p = Process.Start("/usr/bin/servod", "--pcm --p1pins=22,18 --min=50 --max=250 --idle-timeout=500ms");
p.WaitForExit();
var cmd = Process.Start("/bin/bash", "-c 'echo 0=125 > /dev/servoblaster'");
if (cmd != null)
{
cmd.WaitForExit();
}
var cmd2 = new Process();
cmd2.StartInfo.FileName = "/usr/bin/python";
cmd2.StartInfo.Arguments = "Ultrasonic.py";
cmd2.StartInfo.RedirectStandardOutput = true;
cmd2.StartInfo.UseShellExecute = false;
cmd2.Start();
cmd2.WaitForExit();
Console.WriteLine(cmd2.StandardOutput.ReadToEnd());
/*connection[left1] = true;
connection[left2] = false;
connection[right1] = true;
connection[right2] = false;*/
Thread.Sleep(5000);
/*connection[left1] = false;
connection[left2] = false;
connection[right1] = false;
connection[right2] = false;*/
connection.Close();
Process.Start("/usr/bin/killall", "servod");
}
static void Main(string[] args)
{
var led1 = ConnectorPin.P1Pin18.Output(); //This is Pin 24 on the Pi
var connection = new GpioConnection(led1);
for(var i=0; i<100; i++)
{
Console.WriteLine(i);
connection.Toggle(led1);
System.Threading.Thread.Sleep(250);
}
connection.Close();
}
static void Main(string[] args)
{
var led1 = ConnectorPin.P1Pin07.Output();
using (var connection = new GpioConnection(led1))
{
for (var i = 0; i < 100; i++)
{
Console.Write(".");
connection.Toggle(led1);
System.Threading.Thread.Sleep(2000);
}
connection.Close();
}
}
private static void TestDriveCommands(string[] args)
{
Console.WriteLine("Testing drive commands");
if (args.Length <= 1)
{
Console.WriteLine("No commands provided");
}
var connection = new GpioConnection(driveForward, driveBackward, driveTurnLeft, driveTurnRight);
var command = "";
for (int i = 1; i < args.Length-1; i++)
{
command = args[i];
switch (command)
{
case "U":
connection.Toggle(driveForward);
System.Threading.Thread.Sleep(300);
connection.Toggle(driveForward);
break;
case "D":
connection.Toggle(driveBackward);
System.Threading.Thread.Sleep(300);
connection.Toggle(driveBackward);
break;
case "UL":
connection.Toggle(driveForward);
connection.Toggle(driveTurnLeft);
System.Threading.Thread.Sleep(400);
connection.Toggle(driveForward);
connection.Toggle(driveTurnLeft);
break;
case "UR":
connection.Toggle(driveForward);
connection.Toggle(driveTurnRight);
System.Threading.Thread.Sleep(400);
connection.Toggle(driveForward);
connection.Toggle(driveTurnRight);
break;
case "DL":
connection.Toggle(driveBackward);
connection.Toggle(driveTurnLeft);
System.Threading.Thread.Sleep(400);
connection.Toggle(driveBackward);
connection.Toggle(driveTurnLeft);
break;
case "DR":
connection.Toggle(driveBackward);
connection.Toggle(driveTurnRight);
System.Threading.Thread.Sleep(400);
connection.Toggle(driveBackward);
connection.Toggle(driveTurnRight);
break;
default: Console.WriteLine("Unknown command {0} Expected command to be one of U D UL UR DL DR", command);
break;
}
}
connection.Close();
}
private static void TestDrive()
{
Console.WriteLine("Testing arrows with car driving");
ConsoleKeyInfo cki;
var connection = new GpioConnection(driveForward, driveBackward, driveTurnLeft, driveTurnRight);
Console.WriteLine("Press the Escape (Esc) key to quit: \n");
do
{
cki = Console.ReadKey();
Console.Write(" --- You pressed ");
Console.WriteLine(cki.Key.ToString());
switch (cki.Key)
{
case ConsoleKey.UpArrow:
//connection.Blink(driveForward, new TimeSpan(0, 0, 0, 0, 300)); //Hack as we don't have immediate mode in managed code //Blink appears to have issues as it uses Timer
connection.Toggle(driveForward);
System.Threading.Thread.Sleep(300);
connection.Toggle(driveForward);
break;
case ConsoleKey.DownArrow:
connection.Toggle(driveBackward);
System.Threading.Thread.Sleep(300);
connection.Toggle(driveBackward);
break;
case ConsoleKey.LeftArrow:
connection.Toggle(driveForward);
connection.Toggle(driveTurnLeft);
System.Threading.Thread.Sleep(400);
connection.Toggle(driveForward);
connection.Toggle(driveTurnLeft);
break;
case ConsoleKey.RightArrow:
connection.Toggle(driveForward);
connection.Toggle(driveTurnRight);
System.Threading.Thread.Sleep(400);
connection.Toggle(driveForward);
connection.Toggle(driveTurnRight);
break;
default:
break;
}
} while (cki.Key != ConsoleKey.Escape);
connection.Close();
}
private static void TestLEDs()
{
Console.WriteLine("Test GPIO");
var led1 = ConnectorPin.P1Pin31.Output();
var led2 = ConnectorPin.P1Pin33.Output();
var led3 = ConnectorPin.P1Pin35.Output();
var led4 = ConnectorPin.P1Pin37.Output();
var connection = new GpioConnection(led1, led2, led3, led4);
for (int i = 0; i < 5; i++)
{
connection.Blink(led1, new TimeSpan(0, 0, 1));
connection.Blink(led2, new TimeSpan(0, 0, 1));
connection.Blink(led3, new TimeSpan(0, 0, 1));
connection.Blink(led4, new TimeSpan(0, 0, 1));
}
connection.Close();
}
