static void Main(string[] args)
{
LogEvents.Subscribe(i => Console.WriteLine(i.ToLogString()), new[]
{
typeof(PiTop4Board).Assembly,
typeof(FoundationPlate).Assembly,
typeof(ExpansionPlate).Assembly,
typeof(RoverRobot).Assembly,
});
Console.WriteLine("Test Rover App");
PiTop4Board.Instance.UseCamera();
using var rover = new RoverRobot(PiTop4Board.Instance.GetOrCreateExpansionPlate(), PiTop4Board.Instance.GetOrCreateCamera <OpenCvCamera>(0), RoverRobotConfiguration.Default);
var camControl = rover.TiltController;
var motorControl = rover.MotionComponent as SteeringMotorController;
var js = new LinuxJoystick();
rover.AllLightsOn();
rover.BlinkAllLights();
Console.WriteLine("reset");
while (!Console.KeyAvailable)
{
try
{
var e = js.ReadEvent();
// Console.WriteLine($"ts={e.timestamp}, v={e.value}, t={e.type}, n={e.number}");
if (e.type == 1)
{
switch (e.number)
{
case 0:
if (e.value > 0)
{
rover.AllLightsOn();
}
else
{
rover.AllLightsOff();
}
break;
}
}
if (e.type == 2) // axis
{
switch (e.number)
{
case 0: // steer
motorControl.Steering = RotationalSpeed.FromDegreesPerSecond(
e.value.Interpolate(-motorControl.MaxSteering.DegreesPerSecond,
motorControl.MaxSteering.DegreesPerSecond) / 2);
break;
case 1: // throttle
motorControl.Speed = Speed.FromMetersPerSecond(
e.value.Interpolate(motorControl.MaxSpeed.MetersPerSecond,
-motorControl.MaxSpeed.MetersPerSecond) / 2);
break;
case 2: // pan
camControl.Pan = Angle.FromDegrees(e.value.Interpolate(90, -90));
break;
case 3: // tilt
camControl.Tilt = Angle.FromDegrees(
Math.Min(45, e.value.Interpolate(90, -90)));
break;
}
}
}
catch
{
motorControl.Stop();
throw;
}
}
Console.ReadKey();
rover.AllLightsOff();
Console.WriteLine("bye");
}