public static void Run()
{
var servo = new ServoController(Pins.GPIO_PIN_D9, 600, 3000);
var button = new InterruptPort(Pins.ONBOARD_SW1, false, Port.ResistorMode.Disabled, Port.InterruptMode.InterruptEdgeBoth);
button.OnInterrupt += (data1, data2, time) =>
{
//servo.Duration = 1500;
if (data2 == 1)
{
servo.Rotate(100);
}
else
{
servo.Rotate(0);
}
};
while (Debugger.IsAttached)
{
Thread.Sleep(1000);
}
button.Dispose();
servo.Dispose();
}
public void onServoDrop(ServoDragHandler dragHandler)
{
var servoUIControls = dragHandler.draggedItem;
int insertAt = dragHandler.placeholder.transform.GetSiblingIndex();
foreach (var pair in WindowManager._servoUIControls)
{
if (pair.Value == servoUIControls)
{
var s = pair.Key;
var oldGroupIndex = ServoController.Instance.ServoGroups.FindIndex(g => g.Servos.Contains(s));
if (oldGroupIndex < 0)
{
//error
return;
}
var newGroupIndex = dragHandler.dropZone.parent.GetSiblingIndex();
ServoController.MoveServo(ServoController.Instance.ServoGroups[oldGroupIndex], ServoController.Instance.ServoGroups[newGroupIndex], s);
WindowManager.guiRebuildPending = true;
break;
}
}
}
public static void Run()
{
var servo = new ServoController(Pins.GPIO_PIN_D9, 600, 3000);
var button = new InterruptPort(Pins.ONBOARD_SW1, false, Port.ResistorMode.Disabled, Port.InterruptMode.InterruptEdgeBoth);
button.OnInterrupt += (data1, data2, time) =>
{
//servo.Duration = 1500;
if (data2 == 1)
servo.Rotate(100);
else
{
servo.Rotate(0);
}
};
while (Debugger.IsAttached)
{
Thread.Sleep(1000);
}
button.Dispose();
servo.Dispose();
}
private void Page_Unloaded(object sender, RoutedEventArgs e)
{
//Gps.DisconnectFromUART();
ServoController.Dispose();
Activated = false;
UpdatingUi = false;
}
private async Task Initialze()
{
if (LightningProvider.IsLightningEnabled)
{
LowLevelDevicesController.DefaultProvider = LightningProvider.GetAggregateProvider();
}
else
{
throw new Exception("Lightning drivers not enabled. Please enable Lightning drivers.");
}
_camera = new Camera();
await _camera.Initialize();
SpeedSensor.Initialize();
SpeedSensor.Start();
SpeechSynthesis.Initialze();
await AudioPlayerController.Initialize();
_accelerometerSensor = new AccelerometerGyroscopeSensor();
await _accelerometerSensor.Initialize();
_accelerometerSensor.Start();
_automaticSpeakController = new AutomaticSpeakController(_accelerometerSensor);
_motorController = new MotorController();
await _motorController.Initialize(_automaticSpeakController);
_servoController = new ServoController();
await _servoController.Initialize();
_distanceMeasurementSensor = new DistanceMeasurementSensor();
await _distanceMeasurementSensor.Initialize(I2C_ADDRESS_SERVO);
_automaticDrive = new AutomaticDrive(_motorController, _servoController, _distanceMeasurementSensor);
_speechRecognation = new SpeechRecognition();
await _speechRecognation.Initialze(_motorController, _servoController, _automaticDrive);
_speechRecognation.Start();
_gamepadController = new GamepadController(_motorController, _servoController, _automaticDrive, _accelerometerSensor);
_camera.Start();
_httpServerController = new HttpServerController(_motorController, _servoController, _automaticDrive, _camera);
SystemController.Initialize(_accelerometerSensor, _automaticSpeakController, _motorController, _servoController, _automaticDrive, _camera, _httpServerController, _speechRecognation, _gamepadController);
await SystemController.SetAudioRenderVolume(AUDIO_RENDER_VOLUME, true);
await SystemController.SetAudioCaptureVolume(AUDIO_CAPTURE_VOLUME, true);
await AudioPlayerController.PlayAndWaitAsync(AudioName.Welcome);
_automaticSpeakController.Start();
}
public UAS()
{
servoController = ServoController.getInstance();
servoController.setBaudRate(115200);
InitializeComponent();
List <string> devices = WebCamService.Capture.getDevices();
foreach (string device in devices)
{
cameraBox.Items.Add(device);
}
foreach (string port in SerialPort.GetPortNames())
{
portNameBox.Items.Add(port);
}
if (!hud1.Visible)
{
hud1.Visible = true;
}
if (!hud1.Enabled)
{
hud1.Enabled = true;
}
if (!hud1.hudon)
{
hud1.hudon = true;
}
ConnectHandler = new EventHandler(UAS_Connect);
myhud = hud1;
myhud = hud1;
timer = new System.Timers.Timer(3000);
timer.Elapsed += new ElapsedEventHandler(timer_Elapsed);
timer.Start();
hTrackBar.Maximum = 150;
hTrackBar.Minimum = 50;
hTrackBar.Value = 100;
vTrackBar.Maximum = 150;
vTrackBar.Minimum = 50;
vTrackBar.Value = 100;
pitchLabel.Text = "Pitch: " + vTrackBar.Value;
rollLabel.Text = "Roll: " + hTrackBar.Value;
stabroll = true;
stabpitch = true;
stabyaw = true;
mountMode = MAVLink.MAV_MOUNT_MODE.NEUTRAL;
}
// This function sets the controllers for a newly created LabBot object
// Used when a robot is created from file
public void Initialize()
{
wheelController = gameObject.AddComponent <WheelMotorController>();
psdController = gameObject.AddComponent <PSDController>();
servoController = gameObject.AddComponent <ServoController>();
eyeCamController = gameObject.AddComponent <EyeCameraController>();
wheelController.wheels = new List <Wheel>();
psdController.sensors = new List <PSDSensor>();
servoController.servos = new List <Servo>();
eyeCamController.cameras = new List <EyeCamera>();
}
public HttpServer(MotorController motorController,
ServoController servoController,
AutomaticDrive automaticDrive,
Camera camera)
{
_motorController = motorController;
_servoController = servoController;
_automaticDrive = automaticDrive;
_camera = camera;
_listener = GetStreamSocketListener();
}
private async void MainPage_Loaded(object sender, RoutedEventArgs e)
{
var controller = GpioController.GetDefault();
var pin = controller.OpenPin(18, GpioSharingMode.Exclusive);
pin.SetDriveMode(GpioPinDriveMode.Output);
Pwm = new SofwarePwm(n => pin.Write(n ? GpioPinValue.High : GpioPinValue.Low), 10, 0);
Servo = new ServoController(Pwm);
Servo.Start(1);
PropertyChanged(this, new PropertyChangedEventArgs("Angle"));
}
private async void Page_Loaded(object sender, RoutedEventArgs e)
{
UpdateUi();
BtnTargetSpeedIncrease.Click += BtnTargetSpeedIncrease_Click;
BtnTargetSpeedDecrease.Click += BtnTargetSpeedDecrease_Click;
BtnToleranceDecreaseKts.Click += BtnToleranceDecreaseKts_Click;
BtnToleranceIncreaseKts.Click += BtnToleranceIncreaseKts_Click;
_servo = new ServoController(5);
await _servo.Connect();
_servo.SetPosition(ServoPosition).AllowTimeToMove(2000).Go();
}
public UAS()
{
servoController = ServoController.getInstance();
servoController.setBaudRate(115200);
InitializeComponent();
List<string> devices = WebCamService.Capture.getDevices();
foreach (string device in devices)
{
cameraBox.Items.Add(device);
}
foreach (string port in SerialPort.GetPortNames())
{
portNameBox.Items.Add(port);
}
if (!hud1.Visible)
hud1.Visible = true;
if (!hud1.Enabled)
hud1.Enabled = true;
if (!hud1.hudon)
hud1.hudon = true;
ConnectHandler = new EventHandler(UAS_Connect);
myhud = hud1;
myhud = hud1;
timer = new System.Timers.Timer(3000);
timer.Elapsed += new ElapsedEventHandler(timer_Elapsed);
timer.Start();
hTrackBar.Maximum = 150;
hTrackBar.Minimum = 50;
hTrackBar.Value = 100;
vTrackBar.Maximum = 150;
vTrackBar.Minimum = 50;
vTrackBar.Value = 100;
pitchLabel.Text = "Pitch: " + vTrackBar.Value;
rollLabel.Text = "Roll: " + hTrackBar.Value;
stabroll = true;
stabpitch = true;
stabyaw = true;
mountMode = MAVLink.MAV_MOUNT_MODE.NEUTRAL;
}
public GamepadController(MotorController motorController,
ServoController servoController,
AutomaticDrive automaticDrive,
AccelerometerGyroscopeSensor acceleratorSensor)
{
if (_shutdown)
{
return;
}
_motorController = motorController;
_servoController = servoController;
_automaticDrive = automaticDrive;
_acceleratorSensor = acceleratorSensor;
Gamepad.GamepadAdded += GamepadAdded;
Gamepad.GamepadRemoved += GamepadRemoved;
}
public async Task Initialze(MotorController motorController,
ServoController servoController,
AutomaticDrive automaticDrive)
{
_motorController = motorController;
_servoController = servoController;
_automaticDrive = automaticDrive;
_speechRecognizer = new SpeechRecognizer(new Language("de-DE"));
var grammerFile = await Package.Current.InstalledLocation.GetFileAsync(@"Audio\SpeechRecognizerGrammer.xml");
var grammarConstraint = new SpeechRecognitionGrammarFileConstraint(grammerFile);
_speechRecognizer.Constraints.Add(grammarConstraint);
var compilationResult = await _speechRecognizer.CompileConstraintsAsync();
_speechRecognizer.ContinuousRecognitionSession.ResultGenerated += RecognationResult;
_speechRecognizer.ContinuousRecognitionSession.Completed += ContinuousRecognitionSession_Completed;
}
public HttpServerController(MotorController motorController,
ServoController servoController,
AutomaticDrive automaticDrive,
Camera camera)
{
Task.Factory.StartNew(() =>
{
_httpServer = new HttpServer(motorController,
servoController,
automaticDrive,
camera);
_httpServer.Start();
}, CancellationToken.None, TaskCreationOptions.LongRunning, TaskScheduler.Default)
.AsAsyncAction()
.AsTask()
.ContinueWith((t) =>
{
Logger.Write(nameof(HttpServerController), t.Exception).Wait();
SystemController.ShutdownApplication(true).Wait();
}, TaskContinuationOptions.OnlyOnFaulted);
}
private void ServoControlTask()
{
while (Activated)
{
// Doing this here for now
CalculateSpeedAverages();
var speed = OpertationMode == AutopilotOperationMode.Average && SpeedList.Any()
? SpeedList.Average()
: OpertationMode == AutopilotOperationMode.Track ? TrackSpeed : Speed;
var diff = TargetSpeed - speed;
if (Math.Abs(diff) > ToleranceSpeed && speed > 0)
{
if (diff < 0.0d)
{
ServoPosition -= 1;
LogAsync(string.Format("{0} km/h off; decreasing by 1 degree to {1}", diff, ServoPosition));
}
if (diff > 0.0d && ServoPosition >= 0)
{
ServoPosition += 1;
LogAsync(string.Format("{0} km/h off; increasing by 1 degree to {1}", diff, ServoPosition));
}
ServoController.SetPosition(ServoPosition).AllowTimeToMove(100).Go();
}
else
{
LogAsync(string.Format("Speed of {0} withing tolerance or 0; doing nothing", speed));
}
Task.Delay((int)(ToleranceSeconds * 1000)).Wait();
}
LogAsync("Speed control loop ended. Setting servo back to 0 degree");
ServoPosition = 0;
ServoController.SetPosition(0).AllowTimeToMove(2000).Go();
}
public void Run(IBackgroundTaskInstance taskInstance)
{
// Setup Netowrk Socket
Server = new Socket(SocketType.Stream, ProtocolType.Tcp);
Server.Bind(new IPEndPoint(IPAddress.Any, 1911));
Server.Listen(100);
// Setup Servos
var controller = GpioController.GetDefault();
// GPIO 18
var pin = controller.OpenPin(18, GpioSharingMode.Exclusive);
pin.SetDriveMode(GpioPinDriveMode.Output);
Azimuth = new ServoController(new SofwarePwm(n => pin.Write(n ? GpioPinValue.High : GpioPinValue.Low), 50, 0));
Azimuth.Start(90);
// GPIO 23
pin = controller.OpenPin(23, GpioSharingMode.Exclusive);
pin.SetDriveMode(GpioPinDriveMode.Output);
Inclenation = new ServoController(new SofwarePwm(n => pin.Write(n ? GpioPinValue.High : GpioPinValue.Low), 50, 0));
Inclenation.Start(90);
Server.Listen(10);
var connectEvent = new AutoResetEvent(false);
while (true)
{
SocketAsyncEventArgs e = new SocketAsyncEventArgs();
e.Completed += AcceptCallback;
if (!Server.AcceptAsync(e))
{
AcceptCallback(Server, e);
connectEvent.Set();
}
connectEvent.WaitOne(1000);
}
}
public static void Initialize(AccelerometerGyroscopeSensor accelerometerSensor,
AutomaticSpeakController automaticSpeakController,
MotorController motorController,
ServoController servoController,
AutomaticDrive automaticDrive,
Camera camera,
HttpServerController httpServerController,
SpeechRecognition speechRecognation,
GamepadController gamepadController)
{
_accelerometerSensor = accelerometerSensor;
_automaticSpeakController = automaticSpeakController;
_motorController = motorController;
_servoController = servoController;
_automaticDrive = automaticDrive;
_camera = camera;
_httpServerController = httpServerController;
_speechRecognation = speechRecognation;
_gamepadController = gamepadController;
_initialized = true;
}
private async void Page_Loaded(object sender, RoutedEventArgs e)
{
ServoPosition = 0;
TargetSpeed = 2.5d;
ToleranceSpeed = 0.1d;
ToleranceSeconds = 1.0d;
BtnTargetSpeedActivate.Click += BtnTargetSpeedActivate_Click;
BtnTargetSpeedIncrease.Click += BtnTargetSpeedIncrease_Click;
BtnTargetSpeedDecrease.Click += BtnTargetSpeedDecrease_Click;
BtnToleranceDecreaseKmh.Click += BtnToleranceDecreaseKmh_Click;
BtnToleranceIncreaseKmh.Click += BtnToleranceIncreaseKmh_Click;
BtnTimeFactorDecrease.Click += BtnTimeFactorDecrease_Click;
BtnTimeFactorIncrease.Click += BtnTimeFactorIncrease_Click;
BtnTest.Click += BtnTest_Click;
TxtDebug.TextChanged += TxtDebug_TextChanged;
var modes = Enum.GetValues(typeof(AutopilotOperationMode)).Cast <AutopilotOperationMode>();
CmbMode.ItemsSource = modes.ToList();
OpertationMode = 0;
CmbMode.SelectedIndex = 0;
CmbMode.SelectionChanged += CmbModeOnSelectionChanged;
// Initialize Gps
try
{
StartGps();
#region Compass Initialize
// TODO: Check I2C connection of RPi
//StartCompass();
//if (Compass.IsConnected())
//{
// _chacheCompassTask = Task.Run(() =>
// {
// while (true)
// {
// CompassData.Add(Compass.GetRawData());
// if (_compassTaskToken.IsCancellationRequested)
// {
// _compassTaskToken.ThrowIfCancellationRequested();
// }
// }
// }, _compassTaskToken);
//}
#endregion
#region ServoController
ServoController = new ServoController(5);
await ServoController.Connect();
ServoController.SetPosition(ServoPosition).AllowTimeToMove(2000).Go();
await Task.Run(async() =>
{
while (UpdatingUi)
{
await Windows.ApplicationModel.Core.CoreApplication.MainView.CoreWindow.Dispatcher.RunAsync(
CoreDispatcherPriority.Normal, () =>
{
UpdateUi();
});
Task.Delay(2000).Wait();
}
});
#endregion
}
catch (Exception ex)
{
System.Diagnostics.Debug.WriteLine(string.Format("Error starting app: {0}", ex.Message));
}
}
void Awake()
{
servo_ = ServoController.Instance;
}
public TLDTracker(int device)
{
this.device = device;
controller = ServoController.getInstance();
}
public TLDTracker(int device)
{
this.device = device;
controller = ServoController.getInstance();
}
void Awake()
{
servo_ = ServoController.Instance;
}
public static IServoController CreateServoController()
{
return(_servoController ?? (_servoController = new ServoController()));
}
