public override void Init()
{
this.proc = new Thread(new ThreadStart(Loop));
this.dist = new IRSensor(SensorPort.In1, IRMode.Proximity);
this.color = new EV3ColorSensor(SensorPort.In2, ColorMode.Color);
}
private void rock_Load(object sender, EventArgs e)
{
// create brick object and connect it to robot
brick = new Brick <Sensor, Sensor, Sensor, Sensor>(Connect.Globalvariable.sComPort);
//brick.Connection.Open();
// Create touch sensor and connect it to port 2
sensorTouch = new TouchSensor();
brick.Sensor2 = sensorTouch;
// update form with brick details
lblConnnection.Text = "Connected to EV3 Robot";
// Create an IR sensor and connect it to port 4
sensorDistance = new IRSensor();
brick.Sensor4 = sensorDistance;
// Create a colour sensor and connect it to port 3
sensorColour = new ColorSensor();
brick.Sensor3 = sensorColour;
// Set ports for synchronised motor vehicle
brick.Vehicle.LeftPort = MotorPort.OutB;
brick.Vehicle.RightPort = MotorPort.OutC;
}
public override void Init()
{
this.proc = new Thread(new ThreadStart(Loop));
this.move = new Movement();
this.touch = new TouchSensor(SensorPort.In4);
this.dist = new IRSensor(SensorPort.In1, IRMode.Proximity);
this.rand = new Random();
}
public override void Init()
{
this.proc = new Thread(new ThreadStart(Loop));
this.move = new Movement();
this.dist = new IRSensor(SensorPort.In1, IRMode.Proximity);
this.speak = new Speaker(100);
}
private void UpdateIR(IRSensor irSensor, Label lblNorm, Label lblRaw, CheckBox chkFound, Color color)
{
chkFound.Checked = irSensor.Found;
if (irSensor.Found)
{
lblNorm.Text = string.Concat(irSensor.Position.ToString(), ", ", irSensor.Size);
lblRaw.Text = irSensor.RawPosition.ToString();
this.g.DrawEllipse(new Pen(color), irSensor.RawPosition.X / 4, irSensor.RawPosition.Y / 4, irSensor.Size + 1, irSensor.Size + 1);
}
}
public static void Main()
{
var irSensor = new IRSensor(Pins.GPIO_PIN_A0, 10, 80);
while (true)
{
LcdWriter.Instance.Write(irSensor.PrettyDistance());
Thread.Sleep(1000);
}
}
/// <summary>
/// returns either the current irdistance or a default
/// value that indicates, that the irsensor is currently
/// covered by the grappler and can't see in the
/// distance
/// </summary>
/// <returns></returns>
public static int GetIRDistance()
{
if (GrapplerPosition == GrapplerPosition.Up)
{
return(IRSensor.ReadDistance());
}
else
{
return(Constants.IR_VALUES_NOT_INTERPRETABLE_VALUE);
}
}
private void UpdateIR(IRSensor irSensor, Label lblNorm, Label lblRaw, int index, Color color)
{
clbIR.SetItemChecked(index, irSensor.Found);
if (irSensor.Found)
{
lblNorm.Text = irSensor.Position.ToString() + ", " + irSensor.Size;
lblRaw.Text = irSensor.RawPosition.ToString();
g.DrawEllipse(new Pen(color), (int)(irSensor.RawPosition.X / 4), (int)(irSensor.RawPosition.Y / 4),
irSensor.Size + 1, irSensor.Size + 1);
}
}
private void UpdateIR(IRSensor irSensor, Label lblNorm, Label lblRaw, CheckBox chkFound, Color color)
{
chkFound.Checked = irSensor.Found;
if (irSensor.Found)
{
lblNorm.Text = irSensor.Position.ToString() + ", " + irSensor.Size;
lblRaw.Text = irSensor.RawPosition.ToString();
g.DrawEllipse(new Pen(color), (int)(irSensor.RawPosition.X / 4), (int)(irSensor.RawPosition.Y / 4),
irSensor.Size + 1, irSensor.Size + 1);
}
}
private void UpdateIR(IRSensor irSensor, Label lblNorm, Label lblRaw, CheckBox chkFound, Color color, float penwidth)
{
chkFound.Checked = irSensor.Found;
if (irSensor.Found)
{
lblNorm.Text = irSensor.Position.ToString() + ", " + irSensor.Size;
lblRaw.Text = irSensor.RawPosition.ToString();
g.DrawEllipse(new Pen(color, penwidth), (int)(drawscale * irSensor.RawPosition.X), (int)(drawscale * irSensor.RawPosition.Y),
(int)((irSensor.Size + 1) / drawscale), (int)((irSensor.Size + 1) / drawscale));
}
}
private void UpdateIR(IRSensor irSensor, TextBlock lblNorm, TextBlock lblRaw, CheckBox chkFound, Color color)
{
chkFound.IsChecked = irSensor.Found;
if (irSensor.Found)
{
lblNorm.Text = irSensor.Position.ToString() + ", " + irSensor.Size;
lblRaw.Text = irSensor.RawPosition.ToString();
b.DrawEllipse((int)(irSensor.RawPosition.X / 4), (int)(irSensor.RawPosition.Y / 4),
irSensor.Size + 1, irSensor.Size + 1, color);
}
}
/// <summary>
/// Initializes a new instance of the <see cref="ws.winx.devices.WiimoteDevice"/> class.
/// </summary>
/// <param name="index">Index.</param>
/// <param name="pid">Pid.</param>
/// <param name="vid">Vid.</param>
/// <param name="ID">I.</param>
/// <param name="axes">Axes.</param>
/// <param name="buttons">Buttons.</param>
/// <param name="leds">Leds.</param>
/// <param name="irs">Irs.</param>
/// <param name="driver">Driver.</param>
public WiimoteDevice(int index, int pid, int vid, string ID, int axes, int buttons, int leds, int irs, IDriver driver)
: base(index, pid, vid, ID, axes, buttons, driver)
{
_IR_SENSORS = new IRSensor[irs];
_irPoint = new Vector2();
for (int i = 0; i < irs; i++)
{
IR_SENSORS[i] = new IRSensor();
}
_LED = new bool[leds];
}
private void UpdateIR(Graphics g, IRSensor irSensor, Label lblRaw, Color color, float penwidth)
{
if (irSensor.Found)
{
//lblNorm.Text = irSensor.Position.ToString() + ", " + irSensor.Size;
lblRaw.Text = irSensor.RawPosition.ToString();
g.DrawEllipse(new Pen(color, penwidth), (int)(drawscale * irSensor.RawPosition.X), (int)(drawscale * (760 - irSensor.RawPosition.Y)),
(int)((irSensor.Size + 1) / drawscale), (int)((irSensor.Size + 1) / drawscale));
if (irSensor.RawPosition.Y < 0)
{
float temp = irSensor.Position.Y;
}
}
else
{
lblRaw.Text = "No IR";
}
}
private void UpdateIR(IRSensor irSensor, Label lblNorm, Label lblRaw, CheckBox chkFound, Color color)
{
//chkFound.Checked = irSensor.Found;
}
/// <summary>
/// Initializes a new instance of the <see cref="ws.winx.devices.WiimoteDevice"/> class.
/// </summary>
/// <param name="index">Index.</param>
/// <param name="pid">Pid.</param>
/// <param name="vid">Vid.</param>
/// <param name="ID">I.</param>
/// <param name="axes">Axes.</param>
/// <param name="buttons">Buttons.</param>
/// <param name="leds">Leds.</param>
/// <param name="irs">Irs.</param>
/// <param name="driver">Driver.</param>
public WiimoteDevice(int index,int pid,int vid,string ID, int axes, int buttons,int leds,int irs,IDriver driver)
: base(index,pid,vid,ID,axes,buttons,driver)
{
_IR_SENSORS = new IRSensor[irs];
_irPoint = new Vector2();
for(int i=0;i<irs;i++)
IR_SENSORS[i]=new IRSensor();
_LED = new bool[leds];
}
void wm_WiimoteChanged(object sender, WiimoteChangedEventArgs args)
{
lock (lockObj)
{
WiimoteLib.ButtonState bs = args.WiimoteState.ButtonState;
//extract the wiimote state
IRSensor ws = args.WiimoteState.IRState.IRSensors[0];
if (ws.Found) //move cursor
{
PointF position = new PointF(ws.RawPosition.X, ws.RawPosition.Y);
PointF warpedPos = position;
warper.warp(position, ref warpedPos);
SmoothingBuffer[SmoothingBufferIndex % SMOOTHING_BUFFER_SIZE] = warpedPos;
SmoothingBufferIndex++;
if (!lastWiiState.Found) //mouse down
{
SmoothingBufferIndex = 0; //resets the count
if (CursorEnabled)
{
InputCont.MoveMouse(warpedPos); //move the mouse to x,y
InputCont.LeftMouseDown(); //left click down
}
else if (CalibrationState.State > 0)
{
ContinueCalibration(position);
}
}
else if (CursorEnabled) //dragging
{
//if (((x != lastWiiState.RawPosition.X) || (y != lastWiiState.RawPosition.Y)) && cursorControl)
if (SmoothingEnabled)
{
PointF s = GetSmoothedCursor(SmoothingAmount);
InputCont.MoveMouse(s); //move the mouse to x,y
}
else
{
InputCont.MoveMouse(warpedPos); //move the mouse to x,y
}
}
}
else if (lastWiiState.Found && CursorEnabled)
{ //mouse up
InputCont.LeftMouseUp();
InputCont.MoveMouse(new PointF(0, 0)); //move the mouse to x,y
}
if (!lastButtonState.A && bs.A)
{
Calibrate();
}
lastButtonState = bs;
lastWiiState = ws;
if (StatusInfoChanged != null)
{
StatusInfoChanged(this, new EventArgs <WiimoteState>(args.WiimoteState));
}
}
}
