private void Initialize()
{
var spiSocket = GT.Socket.GetSocket(10, true, null, null);
var pwmSocket = GT.Socket.GetSocket(11, true, null, null);
var analogSocket = GT.Socket.GetSocket(12, true, null, null);
this.forwardLEDs = new GTI.SPI(spiSocket, new GTI.SPI.Configuration(false, 0, 0, false, true, 2000), GTI.SPI.Sharing.Shared, spiSocket, GT.Socket.Pin.Six, null);
this.leftIRLED = new GTI.DigitalOutput(spiSocket, GT.Socket.Pin.Three, true, null);
this.rightIRLED = new GTI.DigitalOutput(spiSocket, GT.Socket.Pin.Four, true, null);
this.leftMotorDirection = new GTI.DigitalOutput(pwmSocket, GT.Socket.Pin.Three, false, null);
this.rightMotorDirection = new GTI.DigitalOutput(pwmSocket, GT.Socket.Pin.Four, false, null);
this.leftMotor = new GTI.PWMOutput(pwmSocket, GT.Socket.Pin.Seven, false, null);
this.rightMotor = new GTI.PWMOutput(pwmSocket, GT.Socket.Pin.Eight, false, null);
this.servo = new GTI.PWMOutput(pwmSocket, GT.Socket.Pin.Nine, false, null);
this.buzzer = new GTI.PWMOutput(analogSocket, GT.Socket.Pin.Seven, false, null);
this.enableFaderPin = new GTI.PWMOutput(analogSocket, GT.Socket.Pin.Eight, true, null);
this.leftSensor = new GTI.AnalogInput(analogSocket, GT.Socket.Pin.Three, null);
this.rightSensor = new GTI.AnalogInput(analogSocket, GT.Socket.Pin.Four, null);
this.leftMotor.Set(FEZCerbot.MOTOR_BASE_FREQUENCY, 0);
this.rightMotor.Set(FEZCerbot.MOTOR_BASE_FREQUENCY, 0);
this.enableFaderPin.Set(2000, 1.0);
this.leftMotorInverted = false;
this.rightMotorInverted = false;
this.servoConfigured = false;
this.SetLedBitmask(0x00);
}
/// <summary></summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
public CurrentACS712(int socketNumber)
{
Socket socket = Socket.GetSocket(socketNumber, true, this, null);
socket.EnsureTypeIsSupported('A', this);
ain = new GTI.AnalogInput(socket, Socket.Pin.Five, this);
}
/// <summary></summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
public ReflectorR3(int socketNumber)
{
Socket socket = Socket.GetSocket(socketNumber, true, this, null);
this.left = new GTI.AnalogInput(socket, Socket.Pin.Three, this);
this.center = new GTI.AnalogInput(socket, Socket.Pin.Four, this);
this.right = new GTI.AnalogInput(socket, Socket.Pin.Five, this);
this.centerSwitch = new GTI.DigitalOutput(socket, Socket.Pin.Six, true, this);
}
/// <summary>Constructor</summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
public GasSense(int socketNumber)
{
Socket socket = Socket.GetSocket(socketNumber, true, this, null);
socket.EnsureTypeIsSupported('A', this);
ain = new GTI.AnalogInput(socket, Socket.Pin.Three, this);
heatingElementEnable = new GTI.DigitalOutput(socket, Socket.Pin.Four, false, this);
}
// Note: A constructor summary is auto-generated by the doc builder.
/// <summary></summary>
/// <param name="socketNumber">The mainboard socket that has the module plugged into it.</param>
public Joystick(int socketNumber)
{
Socket socket = Socket.GetSocket(socketNumber, true, this, null);
this.inputX = new GTI.AnalogInput(socket, Socket.Pin.Four, this);
this.inputY = new GTI.AnalogInput(socket, Socket.Pin.Five, this);
this.input = new GTI.InterruptInput(socket, GT.Socket.Pin.Three, GTI.GlitchFilterMode.On, GTI.ResistorMode.PullUp, GTI.InterruptMode.RisingAndFallingEdge, this);
this.input.Interrupt += new GTI.InterruptInput.InterruptEventHandler(this._input_Interrupt);
this.offsetX = 0;
this.offsetY = 0;
}
private double Read(GTI.AnalogInput input)
{
double total = 0;
for (int i = 0; i < 10; i++)
{
total += input.ReadProportion();
}
return(total / 10);
}
// Note: A constructor summary is auto-generated by the doc builder.
/// <summary></summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
public ADC_Mux(int socketNumber)
{
// This finds the Socket instance from the user-specified socket number.
// This will generate user-friendly error messages if the socket is invalid.
// If there is more than one socket on this module, then instead of "null" for the last parameter,
// put text that identifies the socket to the user (e.g. "S" if there is a socket type S)
Socket socket = Socket.GetSocket(socketNumber, true, this, null);
addr0 = new GTI.DigitalOutput(socket, Socket.Pin.Three, false, null);
addr1 = new GTI.DigitalOutput(socket, Socket.Pin.Six, false, null);
this.analogA = new GTI.AnalogInput(socket, Socket.Pin.Four, this);
this.analogB = new GTI.AnalogInput(socket, Socket.Pin.Five, this);
}
void ProgramStarted()
{
/**
* Iniciliza los modulos conectados con Gadgeteer
*/
Socket10 = GT.Socket.GetSocket(10, true, null, null);
vibrationControl = new GT.Interfaces.DigitalOutput(Socket10, GT.Socket.Pin.Four, false, null);
analogPressureMeter = new GT.Interfaces.AnalogInput(Socket10, GT.Socket.Pin.Three, null);
analogFlexorMeter = new GT.Interfaces.AnalogInput(Socket10, GT.Socket.Pin.Five, null);
matrix = new Adafruit_BicolorMatrix(Socket10);
graphics = new Graphics(matrix);
data_manager = new DataManager(sdCard, graphics);
peripheral_manager = new PeripheralManager(graphics, vibrationControl, analogPressureMeter, analogFlexorMeter);
/**
* Determina un timer y una funcion que se ejecuta cada 100 millis
*/
intervalTimer = new GT.Timer(100);
intervalTimer.Tick += new GT.Timer.TickEventHandler(TimerTick);
intervalTimer.Start();
/*
* Se inicializan las variables
**/
is_being_pressed = false;
pressed_times = 0;
cycles = 0;
vibrationCycles = 0;
Debug.Print("Program Started!!");
}
// This method is run when the mainboard is powered up or reset.
void ProgramStarted()
{
/*******************************************************************************************
* Modules added in the Program.gadgeteer designer view are used by typing
* their name followed by a period, e.g. button. or camera.
*
* Many modules generate useful events. Type +=<tab><tab> to add a handler to an event, e.g.:
* button.ButtonPressed +=<tab><tab>
*
* If you want to do something periodically, use a GT.Timer and handle its Tick event, e.g.:
* GT.Timer timer = new GT.Timer(1000); // every second (1000ms)
* timer.Tick +=<tab><tab>
* timer.Start();
*******************************************************************************************/
// Use Debug.Print to show messages in Visual Studio's "Output" window during debugging.
Debug.Print("Program Started");
Socket10 = GT.Socket.GetSocket(10, true, null, null);
AI_ForceSensor = new GTI.AnalogInput(Socket10, GT.Socket.Pin.Five, null);
sdCard.SDCardMounted += new SDCard.SDCardMountedEventHandler(sdCard_SDCardMounted);
sdCard.SDCardUnmounted += new SDCard.SDCardUnmountedEventHandler(sdCard_SDCardUnmounted);
is_being_pressed = false;
pressed_times = 0;
cycles = 0;
currentFace = 0;
sdCard.MountSDCard();
System.Threading.Thread.Sleep(intervalMillis);
rootDirectory = sdCard.GetStorageDevice().RootDirectory;
_pollingTimer = new GT.Timer(intervalMillis);
_pollingTimer.Tick += new GT.Timer.TickEventHandler(TimerTick);
_pollingTimer.Start();
}
