public async void ScannerTask()
{
int direction = stepsSize;
double distance;
int currentAngle = MidpointServoDegrees;
int nextAngle = 0;
gw.ServoPosition(MidpointServoDegrees); // set servo midpoint ready for first distance measure
await Task.Delay(500); // give servo enough time to get to rotation midpoint
while (true) // Scan infinitely
{
frameTimer.Restart(); // measures time to sense distance, move servo and update UI
distance = distanceSensor.GetDistance().Centimeters;
nextAngle = CalculateNextAngle(currentAngle, ref direction);
MoveServo(nextAngle); // more servo in readiness for next distance measurement
UpdateUI(currentAngle, distance);
frameTimer.Stop();
if (frameTimer.ElapsedMilliseconds < FrameTimeMilliseconds)
{
// drive consisent sonar scan cadence
await Task.Delay(FrameTimeMilliseconds - (int)frameTimer.ElapsedMilliseconds);
}
currentAngle = nextAngle;
}
}
private void SensorUpdateTimerCallback(object state)
{
try
{
UnitsNet.Length distance = hcsr04.GetDistance();
Debug.WriteLine($"{DateTime.UtcNow.ToShortTimeString()} Timer triggered " +
$"Distance: {distance.Meters:0.00}M " +
$" {distance.Centimeters:0.0}cm " +
$" {distance.Millimeters}mm");
}
catch (Exception ex)
{
Debug.WriteLine(ex.Message);
}
}
public Length GetDistance()
{
var distance = mDistanceSensor.GetDistance();
return(distance);
}
