示例#1
0
            public FancyLedThread(ref Khepera khepera)
            {
                this.khepera = khepera;
                ThreadStart threadStart = DoFancy;

                _thread = new Thread(threadStart);
            }
示例#2
0
        static void Main(string[] args)
        {
            Khepera khepera = new Khepera("192.168.8.115", 2543);

            var fancy = new FancyLedThread(ref khepera);
            //fancy.Start();

            var motor1Perry = new Perceptron.Perceptron(-2, 2, -1);
            var motor2Perry = new Perceptron.Perceptron(8, -5, -3);


            //khepera.Commands.Motors.SetMotors(100,2940);

            while (true)
            {
                //Console.WriteLine($"Swapped motors! {DateTime.Now}");
                var ttl = DateTime.Now.Millisecond;
                var ir  = khepera.Commands.Infrared.GetProximity();


                var infraRight1 = ir.GroundFrontRight <= 500 ? 1 : 0;
                var infraLeft1  = ir.GroundFrontLeft <= 500 ? 1 : 0;
                // int infraRight2 = ir.GroundFrontRight <= 300 ? 1 : 0;
                // int infraLeft2 = ir.GroundFrontLeft <= 300 ? 1 : 0;

                int motorRightSpeed = motor2Perry.Evaluate(infraLeft1, infraRight1) == 1 ? 100 : 0;
                int motorLeftSpeed  = motor1Perry.Evaluate(infraLeft1, infraRight1) == 1 ? 100 : 0;
                //motorRightSpeed = motor2Perry.Evaluate(infraLeft2, infraRight2) == 1 ? 100 : 20;
                //motorLeftSpeed = motor1Perry.Evaluate(infraLeft2, infraRight2) == 1 ? 100 : 20;

                khepera.Commands.Motors.SetMotors(motorLeftSpeed, motorRightSpeed);
                Console.WriteLine($"LOOP TIME: {DateTime.Now.Millisecond - ttl}ms");
                //Thread.Sleep(20);
            }

            /*var proximity = khepera.Commands.Infrared.GetProximity();
             * var ambient = khepera.Commands.Infrared.GetAmbient();
             * var leds = khepera.Commands.Leds.Get();
             */
            Console.WriteLine();
        }