// public static void main(String[] args)
public void start()
{
ev3.connect();
// Sejway sej = new Sejway();
getBalancePos();
pidControl();
shutDown();
ev3.disconnect();
}
public void start()
{
ev3.connect();
Thread t1 = new Thread(new ThreadStart(balance));
t1.Start();
while (starting_balancing_task)
{
}
Console.WriteLine("Complete balancing task.");
// steering = -7;
speed = 30;
t1.Join();
ev3.disconnect();
Console.WriteLine("End");
}
// verified
public void start()
{
ev3.connect();
// verified
initialize();
// verified
Thread t1 = new Thread(new ThreadStart(balance));
t1.Start();
// verified
Thread t2 = new Thread(new ThreadStart(drive));
t2.Start();
t1.Join();
t2.Join();
ev3.disconnect();
}
public void start()
{
ev3.connect();
gyro = ev3.getGyroSensor();
left_motor = ev3.getMotorA();
right_motor = ev3.getMotorD();
// Optional code to accept BasicMotor: this.right_motor = (NXTMotor)right;
// this.gyro = gyro;
this.ratioWheel = wheelDiameter / 5.6; // Original algorithm was tuned for 5.6 cm NXT 1.0 wheels.
// Took out 50 ms delay here.
// Get the initial gyro offset
getGyroOffset();
// Play warning beep sequence before balance starts
// startBeeps();
// Start balance thread
// this.setDaemon(true);
// this.start();
// initialize ();
// balance();
Thread t1 = new Thread(new ThreadStart(balance));
t1.Start();
// Thread t2 = new Thread (new ThreadStart (drive));
// t2.Start ();
t1.Join();
// t2.Join ();
ev3.disconnect();
}
private void testController()
{
Console.WriteLine("Testing constoller ...");
EV3Brick ev3 = new EV3Brick();
ev3.connect();
// current status: normalize
int motorAdeg = (int)(ev3.getMotorADegree() / 50.0);
int motorBdeg = (int)(ev3.getMotorBDegree() / 300.0);
/*
* training data = [
* [[0,0,0,1], [0,1]], // down1
* [[0,1,1,1], [1,0]], // pick
* [[1,1,1,0], [0,-1]], // up1
* [[1,0,1,1], [0,1]], // down2
* [[1,1,0,1], [-1,0]], // drop
* [[0,1,0,0], [0,-1]] // up2
* ]
*/
var argv = new List <int[]> ();
// current (A, B), desired (A, B)
// down1
argv.Add(new [] { motorAdeg, motorBdeg, 0, 1 });
// argv.Add (new []{0,0,0,1});
argv.Add(new [] { 0, 1 }); // targets A, B
// up1
// argv.Add (new []{1,1,1,0});
// argv.Add (new []{motorAdeg,motorBdeg,1,0});
// argv.Add (new []{0,-1}); // targets A, B
var engine = Python.CreateEngine();
var paths = engine.GetSearchPaths();
paths.Add(pythonPath);
engine.SetSearchPaths(paths);
engine.GetSysModule().SetVariable("argv", argv);
var scriptRuntime = Python.CreateRuntime();
scriptRuntime.GetSysModule().SetVariable("argv", argv);
try
{
dynamic result = engine.ExecuteFile("script.py");
Console.WriteLine(result.outputs);
var outputs = result.outputs;
foreach (double output in outputs)
{
Console.WriteLine(output);
}
motorAdeg = (int)(outputs[0] * 50);
motorBdeg = (int)(outputs[1] * 300);
Console.WriteLine(motorAdeg + ", " + motorBdeg);
ev3.moveMotorA(motorAdeg);
ev3.moveMotorB(motorBdeg);
Thread.Sleep(5000);
}
catch (Exception ex)
{
Console.WriteLine(
"Oops! We couldn't execute the script because of an exception: " + ex.Message);
}
ev3.disconnect();
Console.WriteLine("Complete.");
// Console.ReadLine();
}
private void testController()
{
Console.WriteLine("Testing constoller ...");
EV3Brick ev3 = new EV3Brick ();
ev3.connect ();
// current status: normalize
int motorAdeg = (int) (ev3.getMotorADegree()/50.0);
int motorBdeg = (int) (ev3.getMotorBDegree()/300.0);
/*
training data = [
[[0,0,0,1], [0,1]], // down1
[[0,1,1,1], [1,0]], // pick
[[1,1,1,0], [0,-1]], // up1
[[1,0,1,1], [0,1]], // down2
[[1,1,0,1], [-1,0]], // drop
[[0,1,0,0], [0,-1]] // up2
]
*/
var argv = new List<int[]> ();
// current (A, B), desired (A, B)
// down1
argv.Add (new []{motorAdeg,motorBdeg,0,1});
// argv.Add (new []{0,0,0,1});
argv.Add (new []{0,1}); // targets A, B
// up1
// argv.Add (new []{1,1,1,0});
// argv.Add (new []{motorAdeg,motorBdeg,1,0});
// argv.Add (new []{0,-1}); // targets A, B
var engine = Python.CreateEngine();
var paths = engine.GetSearchPaths();
paths.Add(pythonPath);
engine.SetSearchPaths(paths);
engine.GetSysModule ().SetVariable ("argv", argv);
var scriptRuntime = Python.CreateRuntime();
scriptRuntime.GetSysModule().SetVariable("argv", argv);
try
{
dynamic result = engine.ExecuteFile("script.py");
Console.WriteLine(result.outputs);
var outputs = result.outputs;
foreach (double output in outputs) {
Console.WriteLine(output);
}
motorAdeg = (int) (outputs[0]*50);
motorBdeg = (int) (outputs[1]*300);
Console.WriteLine(motorAdeg + ", " + motorBdeg);
ev3.moveMotorA(motorAdeg);
ev3.moveMotorB(motorBdeg);
Thread.Sleep(5000);
}
catch (Exception ex)
{
Console.WriteLine(
"Oops! We couldn't execute the script because of an exception: " + ex.Message);
}
ev3.disconnect ();
Console.WriteLine("Complete.");
// Console.ReadLine();
}