protected override async Task ExecuteAsync(CancellationToken cancellationToken)
{
_hcsr04 = new Hcsr04(_triggerPin, _echoPin, _pinNumberingScheme);
_prevDistance = Distance;
while (!cancellationToken.IsCancellationRequested)
{
try
{
Distance = _hcsr04.Distance.Centimeters;
_communicationObject.Distance = Distance;
}
catch { }
if (_prevDistance <= _borderDistanceCentimeters && Distance > _borderDistanceCentimeters)
{
_communicationObject.ObjectInside?.Reset();
_communicationObject.ObjectOutside?.Set();
if (_communicationObject.BorderCrossedEvent != null)
{
_communicationObject.BorderCrossedEvent(this, BorderCrossed.Outside);
}
}
else
if (_prevDistance > _borderDistanceCentimeters && Distance <= _borderDistanceCentimeters)
{
_communicationObject.ObjectOutside?.Reset();
_communicationObject.ObjectInside?.Set();
if (_communicationObject.BorderCrossedEvent != null)
{
_communicationObject.BorderCrossedEvent(this, BorderCrossed.Inside);
}
}
_prevDistance = Distance;
await Task.Delay(100);
}
}
public IActionResult GetDistance()
{
using (var sonar = new Hcsr04(TRIG, ECHO))
{
return(Ok(new
{
distance = sonar.Distance.ToString(),
}));
}
}
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);
}
}
static void Main(string[] args)
{
Console.WriteLine("Hello Hcsr04 Sample!");
using (var sonar = new Hcsr04(4, 17))
{
while (true)
{
Console.WriteLine($"Distance: {sonar.Distance} cm");
System.Threading.Thread.Sleep(1000);
}
}
}
public MeadowApp()
{
Console.WriteLine($"Hello HC-SR04 sample");
hCSR04 = new Hcsr04(Device, Device.Pins.D05, Device.Pins.D06);
hCSR04.DistanceDetected += HCSR04DistanceDetected;
Console.WriteLine("Starting loop");
while (true)
{
// Sends a trigger signal
hCSR04.MeasureDistance();
Thread.Sleep(2000);
}
}
/// <summary>
/// Initializes a <see cref="Sonar"/> instance
/// </summary>
public Sonar()
{
Log.Debug("Initializing sonar hardware and services...");
Distance = new DistanceTuple(0, 0, 0);
CenterSonarDevice = new Hcsr04(CENTER_TRIG, CENTER_ECHO);
LeftSonarDevice = new Hcsr04(LEFT_TRIG, LEFT_ECHO);
RightSonarDevice = new Hcsr04(RIGHT_TRIG, RIGHT_ECHO);
Log.Debug("Sonar hardware and services initialized");
MeasurementTimer = new System.Timers.Timer(250);
MeasurementTimer.Elapsed += MeasurementTimer_Elapsed;
MeasurementTimer.AutoReset = true;
MeasurementTimer.Enabled = true;
}
private static void Hsc()
{
Hcsr04 sonar = new Hcsr04(16, 17);
while (true)
{
try
{
Debug.WriteLine($"Distance: {sonar.Distance.Centimeters} cm");
}
catch (Exception)
{
Debug.WriteLine($"Exception");
}
Thread.Sleep(1000);
}
}
public static void Main(string[] args)
{
Console.WriteLine("Hello Hcsr04 Sample!");
using (var sonar = new Hcsr04(4, 17))
{
while (true)
{
var res = sonar.TryGetDistance(out Length distance);
if (res)
{
Console.WriteLine($"Distance: {distance.Centimeters} cm");
}
else
{
Console.WriteLine("Error reading sensor");
}
Thread.Sleep(1000);
}
}
}
public Hcsr04Sensor(int triggerPin, int echoPin)
{
_sensor = new Hcsr04(triggerPin, echoPin);
}
public void Enable(Accessories accessory)
{
try
{
switch (accessory)
{
case Accessories.Camera:
if (camera is null)
{
this.camera = new Camera();
}
else
{
Disable(Accessories.Camera); this.camera = new Camera();
}
break;
case Accessories.IMU:
if (imu is null)
{
this.imu = new Mpu6050(I2cDevice.Create(
new I2cConnectionSettings(1, Mpu6050.DefaultI2cAddress)));
}
else
{
Disable(Accessories.IMU);
this.imu = new Mpu6050(I2cDevice.Create(
new I2cConnectionSettings(1, Mpu6050.DefaultI2cAddress)));
}
break;
case Accessories.MotorL:
if (motorL is null)
{
this.motorL = DCMotor.Create(6, 12, 13);
}
else
{
Disable(Accessories.MotorL); this.motorL = DCMotor.Create(6, 12, 13);
}
break;
case Accessories.MotorR:
if (motorR is null)
{
this.motorR = DCMotor.Create(26, 20, 21);
}
else
{
Disable(Accessories.MotorR); this.motorR = DCMotor.Create(26, 20, 21);
}
break;
case Accessories.Motors:
Enable(Accessories.MotorL);
Enable(Accessories.MotorR);
break;
case Accessories.ADC:
if (adc is null)
{
this.adc = new Tlc1543(24, 5, 23, 25);
}
else
{
Disable(Accessories.ADC); this.adc = new Tlc1543(24, 5, 23, 25);
}
break;
case Accessories.IR:
if (ir is null)
{
this.ir = new IrReceiver(17);
}
else
{
Disable(Accessories.IR); this.ir = new IrReceiver(17);
}
break;
case Accessories.Sonar:
if (sonar is null)
{
this.sonar = new Hcsr04(22, 27);
}
else
{
Disable(Accessories.Sonar); this.sonar = new Hcsr04(22, 27);
}
break;
case Accessories.LED:
if (led is null)
{
this.led = new Ws2812b(18, 4);
}
else
{
Disable(Accessories.LED); this.led = new Ws2812b(18, 4);
}
break;
case Accessories.CPUTemp:
if (cpuTemperature is null)
{
this.cpuTemperature = new CpuTemperature();
}
//else { Disable(led); this.led = new Ws2812b(18, 4); }
break;
case Accessories.All:
foreach (var item in Enum.GetValues(typeof(Accessories)))
{
Enable((Accessories)item);
}
break;
default:
Console.WriteLine("Something went wrong (Enabling accessories)");
break;
}
}
catch (Exception ex)
{
System.Diagnostics.Debug.WriteLine($"Enabling accessory: {Enum.GetName(typeof(Accessories), accessory)} failed.");
System.Diagnostics.Debug.WriteLine($"Exception message: {ex.Message}");
Console.WriteLine($"Enabling accessory: {Enum.GetName(typeof(Accessories), accessory)} failed.");
Console.WriteLine($"Exception message: {ex.Message}");
}
}
