void Initialize()
{
Console.WriteLine("Initialize hardware...");
Console.WriteLine("Create Spi bus");
var config = new SpiClockConfiguration(24000, SpiClockConfiguration.Mode.Mode3);
var spiBus = Device.CreateSpiBus(Device.Pins.SCK, Device.Pins.MOSI, Device.Pins.MISO, config);
Console.WriteLine("Create display driver instance");
display = new St7789(device: Device, spiBus: spiBus,
chipSelectPin: Device.Pins.D02,
dcPin: Device.Pins.D01,
resetPin: Device.Pins.D00,
width: 135, height: 240);
Console.WriteLine("Create graphics lib");
graphics = new GraphicsLibrary(display);
graphics.CurrentFont = new Font12x20();
graphics.Rotation = GraphicsLibrary.RotationType._90Degrees;
Console.WriteLine("Create time of flight sensor");
var i2cBus = Device.CreateI2cBus(I2cBusSpeed.FastPlus);
sensor = new Vl53l0x(Device, i2cBus);
sensor.StartUpdating(200);
Console.WriteLine("Create servo");
}
public MeadowApp()
{
Initialize();
sensor.Updated += Sensor_Updated;
sensor.StartUpdating();
}
public MeadowApp()
{
Initialize();
Console.WriteLine("Start sampling");
distanceSensor.Updated += DistanceUpdated;
distanceSensor.StartUpdating(100);
}
/// <summary>
/// Create a new MarsRover object.
/// </summary>
public Rover()
{
_redLed = Device.CreateDigitalOutputPort(Device.Pins.OnboardLedRed);
_greenLed = Device.CreateDigitalOutputPort(Device.Pins.OnboardLedGreen);
_driveController = new DriveController(Device);
_bluetoothController = new BluetoothController(Device);
_bluetoothController.Forward.ValueSet += Forward_ValueSet;
_bluetoothController.Reverse.ValueSet += Reverse_ValueSet;
_bluetoothController.Left.ValueSet += Left_ValueSet;
_bluetoothController.Right.ValueSet += Right_ValueSet;
var i2cBus = Device.CreateI2cBus(I2cBusSpeed.FastPlus);
_distanceSensor = new Vl53l0x(Device, i2cBus);
_distanceSensor.DistanceUpdated += _distanceSensor_Updated;
_distanceSensor.StartUpdating(TimeSpan.FromMilliseconds(250));
EnableDriveSystem();
}
void Initialize()
{
var onboardLed = new RgbPwmLed(
device: Device,
redPwmPin: Device.Pins.OnboardLedRed,
greenPwmPin: Device.Pins.OnboardLedGreen,
bluePwmPin: Device.Pins.OnboardLedBlue);
onboardLed.SetColor(Color.Red);
var config = new SpiClockConfiguration(
new Frequency(48000, Frequency.UnitType.Kilohertz),
SpiClockConfiguration.Mode.Mode3);
var spiBus = Device.CreateSpiBus(
Device.Pins.SCK,
Device.Pins.MOSI,
Device.Pins.MISO, config);
var display = new St7789(
device: Device,
spiBus: spiBus,
chipSelectPin: Device.Pins.D02,
dcPin: Device.Pins.D01,
resetPin: Device.Pins.D00,
width: 240, height: 240);
graphics = new MicroGraphics(display);
graphics.CurrentFont = new Font12x20();
graphics.Rotation = RotationType._270Degrees;
var i2cBus = Device.CreateI2cBus(I2cBusSpeed.FastPlus);
sensor = new Vl53l0x(Device, i2cBus);
sensor.StartUpdating(TimeSpan.FromMilliseconds(200));
servo = new Servo(Device.CreatePwmPort(Device.Pins.D05), NamedServoConfigs.SG90);
servo.RotateTo(new Angle(0, AU.Degrees));
onboardLed.SetColor(Color.Green);
}
void Initialize()
{
var led = new RgbLed(
Device,
Device.Pins.OnboardLedRed,
Device.Pins.OnboardLedGreen,
Device.Pins.OnboardLedBlue);
led.SetColor(RgbLed.Colors.Red);
var config = new SpiClockConfiguration(24000, SpiClockConfiguration.Mode.Mode3);
var spiBus = Device.CreateSpiBus(
Device.Pins.SCK,
Device.Pins.MOSI,
Device.Pins.MISO, config);
display = new St7789(device: Device, spiBus: spiBus,
chipSelectPin: Device.Pins.D02,
dcPin: Device.Pins.D01,
resetPin: Device.Pins.D00,
width: 240, height: 240);
graphics = new GraphicsLibrary(display);
graphics.CurrentFont = new Font12x20();
graphics.Rotation = GraphicsLibrary.RotationType._270Degrees;
var i2cBus = Device.CreateI2cBus(I2cBusSpeed.FastPlus);
sensor = new Vl53l0x(Device, i2cBus);
sensor.StartUpdating(200);
servo = new Servo(Device.CreatePwmPort(Device.Pins.D05), NamedServoConfigs.SG90);
servo.RotateTo(0);
led.SetColor(RgbLed.Colors.Green);
}