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using System;
using Microsoft.SPOT;
using Microsoft.SPOT.Input;
using Microsoft.SPOT.Presentation;
using Microsoft.SPOT.Presentation.Controls;
using Microsoft.SPOT.Hardware;
using SPL.Script.Engine;
namespace SPLMFConsoleWindow1
{
public class Program : Microsoft.SPOT.Application
{
public static void Main()
{
Program myApplication = new Program();
Window mainWindow = myApplication.CreateWindow();
GPIOButtonInputProvider inputProvider = new GPIOButtonInputProvider(null);
myApplication.Run(mainWindow);
}
private Window mainWindow;
//########################## Sample Code #################################
private ConsoleWindow _consoleWindow;
private I2CDevice _device = null;
private I2CDevice _i2c2 = null;
private I2CDevice _i2c3 = null;
private I2CDevice _i2c4 = null;
//##########################################################################
public Window CreateWindow()
{
mainWindow = new Window();
mainWindow.Height = SystemMetrics.ScreenHeight;
mainWindow.Width = SystemMetrics.ScreenWidth;
//########################## Sample Code #################################
Font font = Resources.GetFont(Resources.FontResources.small);
_consoleWindow = new ConsoleWindow(font);
mainWindow.Child = _consoleWindow;
//##########################################################################
mainWindow.AddHandler(Buttons.ButtonUpEvent, new ButtonEventHandler(OnButtonUp), false);
mainWindow.Visibility = Visibility.Visible;
Buttons.Focus(mainWindow);
//########################## Sample Code #################################
_consoleWindow.WriteLine("Push Select-Button to make a robot turn.");
//##########################################################################
//########################## Sample Code #################################
I2CDevice.Configuration config = new I2CDevice.Configuration(
58,
100
);
_device = new I2CDevice(config);
I2CDevice.Configuration i2c2_config = new I2CDevice.Configuration(
60,
100
);
_i2c2 = new I2CDevice(i2c2_config);
I2CDevice.Configuration i2c3_config = new I2CDevice.Configuration(
62,
100
);
_i2c3 = new I2CDevice(i2c3_config);
I2CDevice.Configuration i2c4_config = new I2CDevice.Configuration(
64,
100
);
_i2c4 = new I2CDevice(i2c4_config);
System.Threading.Thread serialReaderThread = new System.Threading.Thread(i2c2_Reader);
serialReaderThread.Start();
//##########################################################################
return mainWindow;
}
private void OnButtonUp(object sender, ButtonEventArgs e)
{
//########################## Sample Code #################################
if (e.Button == Microsoft.SPOT.Hardware.Button.VK_SELECT)
{
byte[] wBuff = new byte[3];
wBuff[0] = 4;
wBuff[1] = 90; //-0.1
wBuff[2] = 110; //0.1
I2CDevice.I2CWriteTransaction wTr = _device.CreateWriteTransaction(wBuff);
I2CDevice.I2CTransaction[] wTrArr = new I2CDevice.I2CTransaction[] { wTr };
//Go Forwards
int count = _device.Execute(wTrArr, 1000);
_consoleWindow.WriteLine("Turn left");
}
//##########################################################################
}
//########################## Sample Code #################################
private void i2c2_Reader()
{
byte[] rBuff2 = new byte[3];
byte[] rBuff3 = new byte[3];
byte[] rBuff4 = new byte[3];
byte[] wBuff = new byte[3];
int c2 = 765;
int c3 = 765;
int c4 = 765;
int count = 0;
I2CDevice.I2CReadTransaction rTr2 = _device.CreateReadTransaction(rBuff2);
I2CDevice.I2CTransaction[] rTrArr2 = new I2CDevice.I2CTransaction[] { rTr2 };
I2CDevice.I2CReadTransaction rTr3 = _device.CreateReadTransaction(rBuff3);
I2CDevice.I2CTransaction[] rTrArr3 = new I2CDevice.I2CTransaction[] { rTr3 };
I2CDevice.I2CReadTransaction rTr4 = _device.CreateReadTransaction(rBuff4);
I2CDevice.I2CTransaction[] rTrArr4 = new I2CDevice.I2CTransaction[] { rTr4 };
I2CDevice.I2CWriteTransaction wTr = _device.CreateWriteTransaction(wBuff);
I2CDevice.I2CTransaction[] wTrArr = new I2CDevice.I2CTransaction[] { wTr };
int skip_count = 0;
while (true)
{
try
{
count = _i2c2.Execute(rTrArr2, 1000);
count = _i2c3.Execute(rTrArr3, 1000);
count = _i2c4.Execute(rTrArr4, 1000);
if (rBuff2 != null && rBuff3 != null && rBuff4 != null)
{
c2 = rBuff2[0] + rBuff2[1] + rBuff2[2];
c3 = rBuff3[0] + rBuff3[1] + rBuff3[2];
c4 = rBuff4[0] + rBuff4[1] + rBuff4[2];
if (c2 <= 10)
c2 = 765;
if (c3 <= 10)
c3 = 0;
if (c4 <= 10)
c4 = 765;
if (skip_count == 0)
{
if (c2 < 255 && c4 >= 255)
{
//turn left
wBuff[0] = 2;
wBuff[1] = 130; //130-100
wBuff[2] = 110; //0.1
count = _device.Execute(wTrArr, 1000);
skip_count = 3;
}
else if (c2 >= 255 && c4 < 255)
{
//turn right
wBuff[0] = 2;
wBuff[1] = 70; //70-100
wBuff[2] = 110; //0.1
count = _device.Execute(wTrArr, 1000);
skip_count = 3;
}
else if (c2 >= 255 && c3 >= 255 && c3 >= 255)
{
//turn right
wBuff[0] = 2;
wBuff[1] = 70; //70-100
wBuff[2] = 110; //0.1
count = _device.Execute(wTrArr, 1000);
skip_count = 3;
}
else
{
//go forwards
wBuff[0] = 4;
wBuff[1] = 110; //0.1
wBuff[2] = 110; //0.1
count = _device.Execute(wTrArr, 1000);
skip_count = 1;
}
}
if (skip_count == 1)
{
//go forwards
wBuff[0] = 4;
wBuff[1] = 110; //0.1
wBuff[2] = 110; //0.1
count = _device.Execute(wTrArr, 1000);
}
if (skip_count > 0)
skip_count--;
}
}
catch { }
System.Threading.Thread.Sleep(300);
}
}
private void LogInfo(string log)
{
this.Dispatcher.BeginInvoke(
new DispatcherOperationCallback(
delegate(object report)
{
_consoleWindow.WriteLine(log);
return null;
}
), null
);
}
//##########################################################################
}
}
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