public override void OnInspectorGUI()
{
this.serializedObject.Update();
HCSR04 controller = (HCSR04)target;
GUI.enabled = false;
EditorGUILayout.PropertyField(script, true, new GUILayoutOption[0]);
GUI.enabled = true;
foldout = EditorGUILayout.Foldout(foldout, "Sketch Options");
if (foldout)
{
EditorGUI.indentLevel++;
EditorGUILayout.PropertyField(id, new GUIContent("id"));
EditorGUILayout.PropertyField(trig, new GUIContent("trig"));
EditorGUILayout.PropertyField(echo, new GUIContent("echo"));
EditorGUI.indentLevel--;
}
controller.enableUpdate = EditorGUILayout.Toggle("Enable update", controller.enableUpdate);
EditorGUILayout.LabelField(string.Format("Distance: {0:f1}cm", controller.distance));
if (Application.isPlaying && controller.enableUpdate)
{
EditorUtility.SetDirty(target);
}
this.serializedObject.ApplyModifiedProperties();
}
private void Initialize()
{
//initialize the motors.
motorA = new GpioMotorController(motorAForwardPin, motorABackPin);
motorB = new GpioMotorController(motorBForwardPin, motorBBackPin);
//initialize our senses.
distanceSensor = new HCSR04(triggerPin, echoPin);
this.Stop();
this.CurrentState = CarState.Stopped;
}
public MeadowApp()
{
hCSR04 = new HCSR04(Device, Device.Pins.D05, Device.Pins.D06);
hCSR04.DistanceDetected += HCSR04DistanceDetected;
while (true)
{
// Sends a trigger signal
hCSR04.MeasureDistance();
Thread.Sleep(1500);
}
}
public static void Main()
{
var _HCSR04 = new HCSR04(Pins.GPIO_PIN_D12, Pins.GPIO_PIN_D11);
_HCSR04.DistanceDetected += OnDistanceDetected;
while (true)
{
// Send a echo
_HCSR04.MeasureDistance();
Thread.Sleep(500);
}
}
public void Run(IBackgroundTaskInstance taskInstance)
{
try
{
hcsr04 = new HCSR04(12, 36);
}
catch (Exception ex)
{
Debug.WriteLine(ex.Message);
}
hcsr04InputPollingTimer = new Timer(SensorUpdateTimerCallback, null, timerDue, timerPeriod);
backgroundTaskDeferral = taskInstance.GetDeferral();
}
public CommandProcessor(
Arduino.Arduino arduino,
DisplayManager displayManager,
PlaybackService playbackService,
HttpServer httpServer,
PanTiltServo panTiltServo,
HCSR04 ultrasonicsensor)
{
this.arduino = arduino;
this.displayManager = displayManager;
this.playbackService = playbackService;
this.httpServer = httpServer;
this.panTiltServo = panTiltServo;
this.ultrasonicsensor = ultrasonicsensor;
this.arduino.I2CDataReceived += this.Arduino_I2CDataReceived;
this.httpServer.NotifyCallerEventHandler += this.NotifyOnObstacleEventHandler;
}
public ManDetectionDistanceSensor(IGpioController gpio)
{
mDistanceSensor = new HCSR04(gpio, TRIGGER_PIN, ECHO_PIN, Length.FromMeters(3.0));
}
public static void DistanceMeasuring(
State state,
object stateLock,
FPGA.InputSignal <bool> echo,
FPGA.OutputSignal <bool> trigger
)
{
ushort[] buff = new ushort[10];
int addr = 0;
bool filled = false;
Sequential measureHandler = () =>
{
ushort distance = 0;
HCSR04.Measure(echo, trigger, out distance);
buff[addr] = distance;
addr++;
if (addr == buff.Length)
{
filled = true;
addr = 0;
}
state.Current = distance;
if (filled)
{
// get averange of distances
Filters.Average(buff, out state.Average);
if (state.Average < 50)
{
state.DistanceState = ProximityState.Alert;
}
else if (state.Average < 150)
{
state.DistanceState = ProximityState.Warning;
}
else
{
state.DistanceState = ProximityState.Safe;
}
if (state.Average < 200)
{
if (state.Average > (state.LastMaxDistance + 10))
{
state.LastMaxDistance = state.Average;
lock (stateLock)
{
state.RaiseGoneNotification = true;
}
}
else if (state.Average < (state.LastMaxDistance - 5))
{
state.LastMaxDistance = state.Average;
}
}
else
{
state.LastMaxDistance = state.Average;
}
}
else
{
state.DistanceState = ProximityState.Measuring;
}
};
FPGA.Config.OnTimer(TimeSpan.FromMilliseconds(200), measureHandler);
}
