private void GetValue()
{
try
{
var arduinoBytes = new byte[10];
_device.Read(arduinoBytes);
var sonarWidth = (ushort)(arduinoBytes[0] << 8 | arduinoBytes[1]);
//var adcReading1 = (ushort)(arduinoBytes[2] << 8 | arduinoBytes[3]);
//var adcReading2 = (ushort)(arduinoBytes[4] << 8 | arduinoBytes[5]);
//var adcReading3 = (ushort)(arduinoBytes[6] << 8 | arduinoBytes[7]);
//var adcReading4 = (ushort)(arduinoBytes[8] << 8 | arduinoBytes[9]);
ProximityReceived?.Invoke(this, new ProximtyEventArgs
{
RawValue = sonarWidth,
Proximity = Math.Max(0, ((sonarWidth / 2d) / 2.91d) - 0.5d) //The sensors are about 5mm inside the casing of the device.
});
}
catch (Exception ex)
{
SensorException?.Invoke(this, new ExceptionEventArgs
{
Exception = ex,
Message = "An error occurred reading values from Arduino Sensor Device"
});
}
}
private void RequestSensorToStartCollectingData()
{
try
{
var command = (byte)(VCNL4000_Constants.VCNL4000_MEASUREPROXIMITY.GetHashCode() | VCNL4000_Constants.VCNL4000_MEASUREAMBIENT.GetHashCode());
WriteCommandToCommandRegister(command);
}
catch (Exception ex)
{
SensorException?.Invoke(this, new ExceptionEventArgs
{
Exception = ex,
Message = "An Error Occured writing the request to read the proximity."
});
}
}
private void SetPositionAndGetReading(int position)
{
try
{
_contoller.SetPwm(PwmChannel.C0, 0, position);
Task.Delay(50).Wait();
if (_haveReading())
{
PositionFound?.Invoke(this, new PositionalDistanceEventArgs {
Angle = Angle(position), Proximity = _lastReading.Proximity, RawValue = _lastReading.RawValue
});
}
}
catch (Exception ex)
{
SensorException?.Invoke(this, new ExceptionEventArgs {
Exception = ex, Message = "An error occured setting Angle and getting distance."
});
}
}
private int RawAmbientLightReading()
{
try
{
var readAmbientLightCommand = new[] { (byte)VCNL4000_Constants.VCNL4000_AMBIENTDATA.GetHashCode() };
var ambientBuffer = new byte[2]; //Read VCNL4000_AMBIENTDATA for two bytes long, its a 16 bit value.
_device.WriteRead(readAmbientLightCommand, ambientBuffer);
var rawPAmbientReading = ambientBuffer[0] << 8 | ambientBuffer[1];
return(rawPAmbientReading);
}
catch (Exception ex)
{
SensorException?.Invoke(this, new ExceptionEventArgs
{
Exception = ex,
Message = "An Error Occured reading the Ambient Light Results registers."
});
}
return(-1);
}
private int RawProximityReading()
{
try
{
var readProximityCommand = new[] { (byte)VCNL4000_Constants.VCNL4000_PROXIMITYDATA_1.GetHashCode() };
var proximityBuffer = new byte[2]; //Read VCNL4000_PROXIMITYDATA_1 and VCNL4000_PROXIMITYDATA_2 at the same time as they are adjacent register addresses
_device.WriteRead(readProximityCommand, proximityBuffer);
var rawProximityReading = proximityBuffer[0] << 8 | proximityBuffer[1];
return(rawProximityReading);
}
catch (Exception ex)
{
SensorException?.Invoke(this, new ExceptionEventArgs
{
Exception = ex,
Message = "An Error Occured reading the Proximity Results registers."
});
}
return(-1);
}