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);
}
public static void Run ()
{
var scope = new DebugScope ();
//scope.UpdatePeriod.Value = 1;
var accel = new Memsic2125 ();
accel.XPwmInput.ConnectTo (new DigitalInputPin (Pins.GPIO_PIN_D6).Output);
accel.YPwmInput.ConnectTo (new DigitalInputPin (Pins.GPIO_PIN_D7).Output);
scope.ConnectTo (accel.XAccelerationOutput);
scope.ConnectTo (accel.YAccelerationOutput);
var compass = new Grove3AxisDigitalCompass ();
scope.ConnectTo (compass.XGaussOutput);
scope.ConnectTo (compass.YGaussOutput);
scope.ConnectTo (compass.ZGaussOutput);
var a0 = new AnalogInputPin (AnalogChannels.ANALOG_PIN_A0);
scope.ConnectTo (a0.Analog);
var sharp = new SharpGP2D12 ();
a0.Analog.ConnectTo (sharp.AnalogInput);
scope.ConnectTo (sharp.DistanceOutput);
var therm = new Thermistor ();
therm.AnalogInput.ConnectTo (a0.Analog);
scope.ConnectTo (therm.Temperature);
var b = new CelsiusToFahrenheit ();
therm.Temperature.ConnectTo (b.Celsius);
scope.ConnectTo (b.Fahrenheit);
var bmp = new Bmp085 ();
scope.ConnectTo (bmp.Temperature);
var b2 = new CelsiusToFahrenheit ();
bmp.Temperature.ConnectTo (b2.Celsius);
scope.ConnectTo (b2.Fahrenheit);
for (; ; ) {
Debug.Print ("Tick");
Thread.Sleep (1000);
}
}
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);
}
}