public static void Main(string[] args)
{
InfraredSensor s = new InfraredSensor(Inputs.INPUT_4);
var driveService1 = new DriveService(Outputs.OUTPUT_A, Outputs.OUTPUT_D);
var driveService2 = new DriveService(Outputs.OUTPUT_B, Outputs.OUTPUT_C);
s.SetIrRemote();
while (true)
{
Console.WriteLine("Sensor value: " + s.GetInt());
Thread.Sleep(100);
if (Console.KeyAvailable)
{
var key = Console.ReadKey();
if (key.Key == ConsoleKey.Escape)
{
break;
}
}
int value0 = s.GetInt(0);
DriveState driveState1 = new DriveState(value0);
driveService1.Drive(driveState1);
int value1 = s.GetInt(1);
DriveState driveState2 = new DriveState(value1);
driveService2.Drive(driveState2);
}
}
/// <summary>
/// Stop后有问题,暂时不可用关闭,要关闭要重启站点
/// </summary>
/// <returns></returns>
public async Task <IActionResult> Stop()
{
ishw = "stop";
sensor?.Dispose();
sensor = null;
await _chatHub.Clients.All.SendAsync("ReceiveMessage", "71", "红外遥控器关闭");
return(Content("红外遥控器关闭"));
}
public IRIN(int pin)
{
Pi.Init <BootstrapWiringPi>();
mPin = pin;
gpio = Pi.Gpio[mPin];
gpio.PinMode = GpioPinDriveMode.Input;
mSignalVal = gpio.Read();
IRSensor = new InfraredSensor(gpio, true);
}
/// <summary>
/// Tests the infrared sensor HX1838.
/// </summary>
public static void TestInfraredSensor()
{
Console.Clear();
"Send a signal...".Info("IR");
var inputPin = Pi.Gpio[BcmPin.Gpio25]; // BCM Pin 25 or Physical pin 22 on the right side of the header.
var sensor = new InfraredSensor(inputPin, true);
sensor.DataAvailable += (s, e) =>
{
Console.Clear();
var necData = InfraredSensor.NecDecoder.DecodePulses(e.Pulses);
if (necData != null)
{
$"NEC Data: {BitConverter.ToString(necData).Replace("-", " "),12} Pulses: {e.Pulses.Length,4} Duration(us): {e.TrainDurationUsecs,6} Reason: {e.FlushReason}".Warn("IR");
if (InfraredSensor.NecDecoder.IsRepeatCode(e.Pulses))
{
return;
}
}
else
{
if (e.Pulses.Length >= 4)
{
var debugData = InfraredSensor.DebugPulses(e.Pulses);
$"RX Length: {e.Pulses.Length,5}; Duration: {e.TrainDurationUsecs,7}; Reason: {e.FlushReason}".Warn("IR");
debugData.Info("IR");
}
else
{
$"RX (Garbage): {e.Pulses.Length,5}; Duration: {e.TrainDurationUsecs,7}; Reason: {e.FlushReason}".Error("IR");
}
}
ExitMessage.WriteLine();
};
while (true)
{
var input = Console.ReadKey(true).Key;
if (input != ConsoleKey.Escape)
{
continue;
}
break;
}
sensor.Dispose();
}
/// <summary>
/// Tests the infrared sensor HX1838.
/// </summary>
public static void TestInfraredSensor()
{
var inputPin = Pi.Gpio[P1.Gpio23]; // BCM Pin 23 or Physical pin 16 on the right side of the header.
var sensor = new InfraredSensor(inputPin, true);
var emitter = new InfraredEmitter(Pi.Gpio[P1.Gpio18]);
sensor.DataAvailable += (s, e) =>
{
var necData = InfraredSensor.NecDecoder.DecodePulses(e.Pulses);
if (necData != null)
{
$"NEC Data: {BitConverter.ToString(necData).Replace("-", " "),12} Pulses: {e.Pulses.Length,4} Duration(us): {e.TrainDurationUsecs,6} Reason: {e.FlushReason}".Warn("IR");
if (InfraredSensor.NecDecoder.IsRepeatCode(e.Pulses))
{
return;
}
// Test repeater signal
var outputPulses = InfraredEmitter.NecEncoder.Encode(necData);
emitter.Send(outputPulses);
var debugData = InfraredSensor.DebugPulses(outputPulses);
$"TX Length: {outputPulses.Length,5}".Warn("IR");
debugData.Info("IR");
}
else
{
if (e.Pulses.Length >= 4)
{
var debugData = InfraredSensor.DebugPulses(e.Pulses);
$"RX Length: {e.Pulses.Length,5}; Duration: {e.TrainDurationUsecs,7}; Reason: {e.FlushReason}".Warn("IR");
debugData.Info("IR");
}
else
{
$"RX (Garbage): {e.Pulses.Length,5}; Duration: {e.TrainDurationUsecs,7}; Reason: {e.FlushReason}".Error("IR");
}
}
};
Console.ReadLine();
sensor.Dispose();
}
public async Task <IActionResult> Start(double speed = 0.8)
{
if (ishw == "stop")
{
var inputPin = Pi.Gpio[BcmPin.Gpio25]; // BCM Pin 25 or Physical pin 22 on the right side of the header.
sensor = new InfraredSensor(inputPin, true);
sensor.DataAvailable += async(s, e) =>
{
Console.Clear();
var necData = InfraredSensor.NecDecoder.DecodePulses(e.Pulses);
if (necData != null)
{
var decdata = BitConverter.ToString(necData);
Console.WriteLine($"NEC Data: {decdata.Replace("-", " "),12} Pulses: {e.Pulses.Length,4} Duration(us): {e.TrainDurationUsecs,6} Reason: {e.FlushReason}");
#region 遥控器控制小车
switch (decdata)
{
case "DD-22-0B-F4":
_l298n.Move(1, speed);
L298NController.InitFX();
L298NController.isup = "start";
await _chatHub.Clients.All.SendAsync("ReceiveMessage", "42", "前进.");
break;
case "DD-22-0D-F2":
_l298n.Move(2, speed);
L298NController.InitFX();
L298NController.isdown = "start";
await _chatHub.Clients.All.SendAsync("ReceiveMessage", "43", "后退.");
break;
case "DD-22-0E-F1":
_l298n.Move(3, speed);
L298NController.InitFX();
L298NController.isleft = "start";
await _chatHub.Clients.All.SendAsync("ReceiveMessage", "44", "左转.");
break;
case "DD-22-0C-F3":
_l298n.Move(4, speed);
L298NController.InitFX();
L298NController.isright = "start";
await _chatHub.Clients.All.SendAsync("ReceiveMessage", "45", "右转.");
break;
case "DD-22-0A-F5":
_l298n.Move(5, 0);
L298NController.InitFX();
L298NController.ispause = "start";
await _chatHub.Clients.All.SendAsync("ReceiveMessage", "46", "暂停.");
break;
}
await _chatHub.Clients.All.SendAsync("ReceiveMessage", "3", $"NEC Data: {BitConverter.ToString(necData).Replace("-", " "),12}");
#endregion
if (InfraredSensor.NecDecoder.IsRepeatCode(e.Pulses))
{
return;
}
}
else
{
if (e.Pulses.Length >= 4)
{
var debugData = InfraredSensor.DebugPulses(e.Pulses);
//Console.WriteLine($"RX Length: {e.Pulses.Length,5}; Duration: {e.TrainDurationUsecs,7}; Reason: {e.FlushReason}");
//Console.WriteLine($"Debug data: {debugData}");
await _chatHub.Clients.All.SendAsync("ReceiveMessage", "3", $"Debug data: {debugData}");
}
else
{
//Console.WriteLine($"RX (Garbage): {e.Pulses.Length,5}; Duration: {e.TrainDurationUsecs,7}; Reason: {e.FlushReason}");
}
}
};
}
ishw = "start";
await _chatHub.Clients.All.SendAsync("ReceiveMessage", "70", "红外遥控器开启");
return(Content("红外遥控器开启"));
}
/// <summary>
/// Allows the game to perform any initialization it needs to before starting to run.
/// This is where it can query for any required services and load any non-graphic
/// related content. Calling base.Initialize will enumerate through any components
/// and initialize them as well.
/// </summary>
protected override void Initialize()
{
// TODO: Add your initialization logic here
InitalizeSerialCommunication();
lowerLeftBumper = new Bumper();
upperLeftBumper = new Bumper();
upperRightBumper = new Bumper();
lowerRightBumper = new Bumper();
wheels = new CoupledWheels();
wheels.ClicksPerTurn = 3900;
wheels.WheelDistance = 0.345f;
wheels.WheelRadius = 0.0467f;
wheels.Updated += new EventHandler(wheels_Updated);
sonar0 = new MaxbotixSonar();
sonar1 = new MaxbotixSonar();
sonar2 = new MaxbotixSonar();
sonar3 = new MaxbotixSonar();
sonar4 = new MaxbotixSonar();
groundSensor0 = new InfraredSensor();
groundSensor1 = new InfraredSensor();
groundSensor2 = new InfraredSensor();
redLed = new LedPwm();
greenLed = new LedPwm();
blueLed = new LedPwm();
drive = new DifferentialDrive(wheels);
odometry = new DifferentialOdometry(wheels);
proximity = new ProximityArray
{
{ new Transform(0.15f, 0.14f, MathHelper.ToRadians(45)), sonar0 },
{ new Transform(0.165f, 0.07f, MathHelper.ToRadians(20)), sonar1 },
{ new Transform(0.18f, 0.0f, MathHelper.ToRadians(0)), sonar2 },
{ new Transform(0.165f, -0.07f, MathHelper.ToRadians(-20)), sonar3 },
{ new Transform(0.15f, -0.14f, MathHelper.ToRadians(-45)), sonar4 },
};
protocol = new ProtocolManager();
protocol.SubscribeComponent(lowerLeftBumper);
protocol.SubscribeComponent(upperLeftBumper);
protocol.SubscribeComponent(upperRightBumper);
protocol.SubscribeComponent(lowerRightBumper);
protocol.SubscribeComponent(wheels);
protocol.SubscribeComponent(sonar0);
protocol.SubscribeComponent(sonar1);
protocol.SubscribeComponent(sonar2);
protocol.SubscribeComponent(sonar3);
protocol.SubscribeComponent(sonar4);
protocol.SubscribeComponent(groundSensor0);
protocol.SubscribeComponent(groundSensor1);
protocol.SubscribeComponent(groundSensor2);
protocol.SubscribeComponent(greenLed);
protocol.SubscribeComponent(redLed);
protocol.SubscribeComponent(blueLed);
transport.Protocol = protocol;
renderer = new SpriteRenderer(this);
renderer.PixelsPerMeter = 100;
Components.Add(renderer);
// Create a new SpriteBatch, which can be used to draw textures.
spriteBatch = new SpriteBatch(GraphicsDevice);
Services.AddService(typeof(SpriteBatch), spriteBatch);
base.Initialize();
}
/// <summary>
/// Allows the game to perform any initialization it needs to before starting to run.
/// This is where it can query for any required services and load any non-graphic
/// related content. Calling base.Initialize will enumerate through any components
/// and initialize them as well.
/// </summary>
protected override void Initialize()
{
// TODO: Add your initialization logic here
InitalizeSerialCommunication();
lowerLeftBumper = new Bumper();
upperLeftBumper = new Bumper();
upperRightBumper = new Bumper();
lowerRightBumper = new Bumper();
wheels = new CoupledWheels();
wheels.ClicksPerTurn = 3900;
wheels.WheelDistance = 0.345f;
wheels.WheelRadius = 0.0467f;
wheels.Updated += new EventHandler(wheels_Updated);
sonar0 = new MaxbotixSonar();
sonar1 = new MaxbotixSonar();
sonar2 = new MaxbotixSonar();
sonar3 = new MaxbotixSonar();
sonar4 = new MaxbotixSonar();
groundSensor0 = new InfraredSensor();
groundSensor1 = new InfraredSensor();
groundSensor2 = new InfraredSensor();
redLed = new LedPwm();
greenLed = new LedPwm();
blueLed = new LedPwm();
drive = new DifferentialDrive(wheels);
odometry = new DifferentialOdometry(wheels);
proximity = new ProximityArray
{
{ new Transform(0.15f, 0.14f, MathHelper.ToRadians(45)), sonar0 },
{ new Transform(0.165f, 0.07f, MathHelper.ToRadians(20)), sonar1 },
{ new Transform(0.18f, 0.0f, MathHelper.ToRadians(0)), sonar2 },
{ new Transform(0.165f, -0.07f, MathHelper.ToRadians(-20)), sonar3 },
{ new Transform(0.15f, -0.14f, MathHelper.ToRadians(-45)), sonar4 },
};
protocol = new ProtocolManager();
protocol.SubscribeComponent(lowerLeftBumper);
protocol.SubscribeComponent(upperLeftBumper);
protocol.SubscribeComponent(upperRightBumper);
protocol.SubscribeComponent(lowerRightBumper);
protocol.SubscribeComponent(wheels);
protocol.SubscribeComponent(sonar0);
protocol.SubscribeComponent(sonar1);
protocol.SubscribeComponent(sonar2);
protocol.SubscribeComponent(sonar3);
protocol.SubscribeComponent(sonar4);
protocol.SubscribeComponent(groundSensor0);
protocol.SubscribeComponent(groundSensor1);
protocol.SubscribeComponent(groundSensor2);
protocol.SubscribeComponent(greenLed);
protocol.SubscribeComponent(redLed);
protocol.SubscribeComponent(blueLed);
transport.Protocol = protocol;
renderer = new SpriteRenderer(this);
renderer.PixelsPerMeter = 100;
Components.Add(renderer);
// Create a new SpriteBatch, which can be used to draw textures.
spriteBatch = new SpriteBatch(GraphicsDevice);
Services.AddService(typeof(SpriteBatch), spriteBatch);
base.Initialize();
}