public static void Run()
{
var scope = new DebugScope();
//scope.UpdatePeriod.Value = 1;
var accel = new Memsic2125();
accel.XPwmInput.ConnectTo(new DigitalInputPin(Pins.GPIO_PIN_D6).Output);
accel.YPwmInput.ConnectTo(new DigitalInputPin(Pins.GPIO_PIN_D7).Output);
scope.ConnectTo(accel.XAccelerationOutput);
scope.ConnectTo(accel.YAccelerationOutput);
var compass = new Grove3AxisDigitalCompass();
scope.ConnectTo(compass.XGaussOutput);
scope.ConnectTo(compass.YGaussOutput);
scope.ConnectTo(compass.ZGaussOutput);
var a0 = new AnalogInputPin(AnalogChannels.ANALOG_PIN_A0);
scope.ConnectTo(a0.Analog);
var sharp = new SharpGP2D12();
a0.Analog.ConnectTo(sharp.AnalogInput);
scope.ConnectTo(sharp.DistanceOutput);
var therm = new Thermistor();
therm.AnalogInput.ConnectTo(a0.Analog);
scope.ConnectTo(therm.Temperature);
var b = new CelsiusToFahrenheit();
therm.Temperature.ConnectTo(b.Celsius);
scope.ConnectTo(b.Fahrenheit);
var bmp = new Bmp085();
scope.ConnectTo(bmp.Temperature);
var b2 = new CelsiusToFahrenheit();
bmp.Temperature.ConnectTo(b2.Celsius);
scope.ConnectTo(b2.Fahrenheit);
for (; ;)
{
Debug.Print("Tick");
Thread.Sleep(1000);
}
}
public static void Run()
{
//
// Start with the basic robot
//
var leftMotor = HBridgeMotor.CreateForNetduino(PWMChannels.PWM_PIN_D3, Pins.GPIO_PIN_D1, Pins.GPIO_PIN_D2);
var rightMotor = HBridgeMotor.CreateForNetduino(PWMChannels.PWM_PIN_D6, Pins.GPIO_PIN_D4, Pins.GPIO_PIN_D5);
var robot = new TwoWheeledRobot(leftMotor, rightMotor);
//
// Create a range finder and scope it
//
var scope = new DebugScope();
var a0 = new AnalogInputPin(AnalogChannels.ANALOG_PIN_A0, 10);
scope.ConnectTo(a0.Analog);
var sharp = new SharpGP2D12();
a0.Analog.ConnectTo(sharp.AnalogInput);
scope.ConnectTo(sharp.DistanceOutput);
scope.ConnectTo(robot.SpeedInput);
//
// This is the cruising (unobstructed) speed
//
var distanceToSpeed = new Transform(distance => {
const double min = 0.1;
const double max = 0.5;
if (distance > max)
{
return(1.0);
}
else if (distance < min)
{
return(0.0);
}
return((distance - min) / (max - min));
});
distanceToSpeed.Input.ConnectTo(sharp.DistanceOutput);
//
// Take different actions depending on our environment:
// 0: cruising
// 1: collided
//
var sw = new Switch(
new [] {
new Connection(distanceToSpeed.Output, robot.SpeedInput),
new Connection(new SineWave(0.5, 0.333, 0, updateFrequency: 10).Output, robot.DirectionInput),
new Connection(new Constant(0).Output, robot.SpinInput),
},
new[] {
new Connection(new Constant(0.6).Output, robot.SpinInput),
new Connection(new Constant(0).Output, robot.DirectionInput),
new Connection(new Constant(0).Output, robot.SpeedInput),
});
var collided = new Transform(distance => distance < 0.2 ? 1 : 0);
collided.Input.ConnectTo(sharp.DistanceOutput);
collided.Output.ConnectTo(sw.Input);
//
// Loop to keep us alive
//
for (; ;)
{
//Debug.Print ("TwoWheeled Tick");
Thread.Sleep(1000);
}
}
public static void Run()
{
var scope = new DebugScope();
//
// Create the robot
//
var leftMotor = HBridgeMotor.CreateForNetduino(PWMChannels.PWM_PIN_D3, Pins.GPIO_PIN_D1, Pins.GPIO_PIN_D2);
leftMotor.CalibrationInput.Value = 1;
var rightMotor = HBridgeMotor.CreateForNetduino(PWMChannels.PWM_PIN_D6, Pins.GPIO_PIN_D4, Pins.GPIO_PIN_D5);
rightMotor.CalibrationInput.Value = 1;
//
// Create his eyes
//
var leftRange = new SharpGP2D12 {
Name = "LeftRange"
};
var rightRange = new SharpGP2D12 {
Name = "RightRange"
};
leftRange.AnalogInput.ConnectTo(new AnalogInputPin(AnalogChannels.ANALOG_PIN_A0, 10).Analog);
rightRange.AnalogInput.ConnectTo(new AnalogInputPin(AnalogChannels.ANALOG_PIN_A1, 10).Analog);
scope.ConnectTo(leftRange.DistanceOutput);
scope.ConnectTo(rightRange.DistanceOutput);
//
// Now some intelligence
// Each motor is driven by the distance sensor's reading
//
var nearDist = 0.1;
var farDist = 0.5;
var minSpeed = 0.4;
TransformFunction distanceToSpeed = d => {
if (d < nearDist)
{
return(-minSpeed);
}
if (d > farDist)
{
return(1);
}
var a = (d - nearDist) / (farDist - nearDist);
return(a * (1 - minSpeed) + minSpeed);
};
var leftSpeed = new Transform(distanceToSpeed);
leftSpeed.Input.ConnectTo(leftRange.DistanceOutput);
leftSpeed.Output.ConnectTo(leftMotor.SpeedInput);
var rightSpeed = new Transform(distanceToSpeed);
rightSpeed.Input.ConnectTo(rightRange.DistanceOutput);
rightSpeed.Output.ConnectTo(rightMotor.SpeedInput);
}
