private async void DoWork(object sender, DoWorkEventArgs e)
{
var driver = new TwoMotorsDriver(new Motor(27, 22), new Motor(5, 6));
var ultrasonicDistanceSensor = new UltrasonicDistanceSensor(23, 24);
await WriteLog("Moving forward");
while (!_finish)
{
driver.MoveForward();
await Task.Delay(200);
var distance = await ultrasonicDistanceSensor.GetDistanceInCmAsync(1000);
if (distance > 35.0)
{
continue;
}
await WriteLog($"Obstacle found at {distance} cm or less. Turning right");
await driver.TurnRightAsync();
await WriteLog("Moving forward");
}
}
private async void DoWork(object sender, DoWorkEventArgs e)
{
var driver = new TwoMotorsDriver(new Motor(27, 22), new Motor(5, 6));
var ultrasonicDistanceSensor = new UltrasonicDistanceSensor(23, 24);
await WriteLog("Moving forward");
while (!_finish)
{
driver.MoveForward();
await Task.Delay(200);
var distance = await ultrasonicDistanceSensor.GetDistanceInCmAsync(1000);
if (distance > 35.0)
continue;
await WriteLog($"Obstacle found at {distance} cm or less. Turning right");
await driver.TurnRightAsync();
await WriteLog("Moving forward");
}
}
private async void DoWork(object sender, DoWorkEventArgs e)
{
var driver = new TwoMotorsDriver(new Motor(27, 22), new Motor(5, 6));
var ultrasonicDistanceSensor = new UltrasonicDistanceSensor(23, 24);
await ultrasonicDistanceSensor.InitAsync();
WriteLog("Moving forward");
while (!_finish)
{
try
{
driver.MoveForward();
await Task.Delay(200);
var distance = await ultrasonicDistanceSensor.GetDistanceInCmAsync(1000);
WriteData("Forward", distance);
if (distance > 35.0)
continue;
WriteLog($"Obstacle found at {distance:F2} cm or less. Turning right");
WriteData("Turn Right", distance);
await driver.TurnRightAsync();
WriteLog("Moving forward");
}
catch (Exception ex)
{
WriteLog(ex.Message);
driver.Stop();
WriteData("Stop", -1);
}
}
}
public static void Main(string[] args)
{
Configuration rover = Configuration.Read();
if (args.Length <= 0)
{
return;
}
try {
switch (args[0])
{
case "led":
if (args.Length > 2)
{
int numled = 999;
bool result = int.TryParse(args[1], out numled);
if (result)
{
if (rover.led.Length > numled)
{
Led led = new Led(numled, rover.led[numled]);
if ((args[2]) == "on")
{
led.on();
}
else
{
led.off();
}
Console.Write("OK");
}
}
}
break;
case "button":
if (args.Length > 1)
{
int numbtn = 999;
bool result = int.TryParse(args[1], out numbtn);
if (result)
{
if (rover.button.Length > numbtn)
{
Button btn =
new Button(rover.button[numbtn]);
Console.Write(btn.read()); btn.dispose();
}
}
}
break;
case "motor":
TwoMotorsDriver motors = new TwoMotorsDriver(rover.motor);
if (args.Length > 1)
{
switch (args[1])
{
case "left": motors.TurnLeft(); break;
case "right": motors.TurnRight(); break;
case "forward": motors.MoveForward(); break;
case "backward": motors.MoveBackward(); break;
case "stop": motors.Stop(); break;
default: { } break;
}
System.Threading.Thread.Sleep(
TimeSpan.FromMilliseconds(1000 * rover.timestep));
motors.Stop(); Console.Write("OK"); motors.dispose();
}
break;
case "uds":
UltrasonicDistanceSensor uds = new UltrasonicDistanceSensor(rover.uds);
uds.getDistance(); Console.Write(uds.getDistance()); uds.Close();
break;
}
}
catch (Exception) {
Console.Write("exception: the application only works on raspian with 'sudo' command");
}
}
private async void DoWork(object sender, DoWorkEventArgs e)
{
var ultrasonicDistanceSensor = new UltrasonicDistanceSensor(
ultrasonicTrigPin,
ultrasonicEchoPin);
await ultrasonicDistanceSensor.InitAsync();
var previousState = _roverState.Clone();
var state = _roverState.Clone();
var currentTimer = _timer;
while (!_finish)
{
try
{
lock(_stateLock)
{
currentTimer = _timer;
previousState = state;
state = _roverState.Clone();
}
if (state.TurnState == RoverTurnState.Right)
{
_roverState.TurnState = RoverTurnState.Straight;
await _driver.TurnRightAsync();
}
else if (state.TurnState == RoverTurnState.Left)
{
_roverState.TurnState = RoverTurnState.Straight;
await _driver.TurnLeftAsync();
}
else if (state.TurnState == RoverTurnState.TurnAround)
{
_roverState.TurnState = RoverTurnState.Straight;
await _driver.TurnAroundAsync();
}
else if (state.TurnState == RoverTurnState.Play)
{
_roverState.TurnState = RoverTurnState.Straight;
await _driver.PlayAsync();
}
else if (state.TurnState == RoverTurnState.Attack)
{
_roverState.TurnState = RoverTurnState.Straight;
await _driver.AttackAsync();
}
else
{
if (previousState.MoveState != state.MoveState)
{
switch (state.MoveState)
{
case RoverMoveState.Backward:
ResetTimer(currentTimer, _roverState.NewTimer(), 2000);
_driver.MoveBackward();
break;
case RoverMoveState.Forward:
ResetTimer(currentTimer, _roverState.NewTimer(), 2000);
_driver.MoveForward();
break;
case RoverMoveState.Stopped:
ResetTimer(currentTimer);
_driver.Stop();
break;
}
}
}
await Task.Delay(20);
/*
var distance = await ultrasonicDistanceSensor.GetDistanceInCmAsync(1000);
WriteData("Forward", distance);
if (distance <= 35.0)
{
WriteLog($"Obstacle found at {distance:F2} cm or less. Turning right");
WriteData("Turn Right", distance);
await driver.TurnRightAsync();
WriteLog("Moving forward");
}
*/
}
catch (Exception ex)
{
WriteLog(ex.Message);
_driver.Stop();
WriteData("Stop", -1);
}
}
}
private async void DoWork(object sender, DoWorkEventArgs e)
{
var ultrasonicDistanceSensor = new UltrasonicDistanceSensor(
ultrasonicTrigPin,
ultrasonicEchoPin);
await ultrasonicDistanceSensor.InitAsync();
var previousState = _roverState.Clone();
var state = _roverState.Clone();
var currentTimer = _timer;
while (!_finish)
{
try
{
lock (_stateLock)
{
currentTimer = _timer;
previousState = state;
state = _roverState.Clone();
}
if (state.TurnState == RoverTurnState.Right)
{
_roverState.TurnState = RoverTurnState.Straight;
await _driver.TurnRightAsync();
}
else if (state.TurnState == RoverTurnState.Left)
{
_roverState.TurnState = RoverTurnState.Straight;
await _driver.TurnLeftAsync();
}
else if (state.TurnState == RoverTurnState.TurnAround)
{
_roverState.TurnState = RoverTurnState.Straight;
await _driver.TurnAroundAsync();
}
else if (state.TurnState == RoverTurnState.Play)
{
_roverState.TurnState = RoverTurnState.Straight;
await _driver.PlayAsync();
}
else if (state.TurnState == RoverTurnState.Attack)
{
_roverState.TurnState = RoverTurnState.Straight;
await _driver.AttackAsync();
}
else
{
if (previousState.MoveState != state.MoveState)
{
switch (state.MoveState)
{
case RoverMoveState.Backward:
ResetTimer(currentTimer, _roverState.NewTimer(), 2000);
_driver.MoveBackward();
break;
case RoverMoveState.Forward:
ResetTimer(currentTimer, _roverState.NewTimer(), 2000);
_driver.MoveForward();
break;
case RoverMoveState.Stopped:
ResetTimer(currentTimer);
_driver.Stop();
break;
}
}
}
await Task.Delay(20);
/*
* var distance = await ultrasonicDistanceSensor.GetDistanceInCmAsync(1000);
* WriteData("Forward", distance);
*
* if (distance <= 35.0)
* {
* WriteLog($"Obstacle found at {distance:F2} cm or less. Turning right");
* WriteData("Turn Right", distance);
*
* await driver.TurnRightAsync();
*
* WriteLog("Moving forward");
* }
*/
}
catch (Exception ex)
{
WriteLog(ex.Message);
_driver.Stop();
WriteData("Stop", -1);
}
}
}
