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This commit is contained in:
BlubbFish
2017-09-26 20:21:42 +02:00
parent e144bde202
commit 319ca0cbbb
194 changed files with 10149 additions and 0 deletions
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ebbits/AdvancedServo-simple/Robots/AbstractRobot.cs
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using System;
using System.Collections.Generic;
using System.Text;
using Phidgets;
using System.Threading;
namespace ebbits.Robots {
public abstract class AbstractRobot {
protected AdvancedServo servo;
protected int cservos;
protected string name;
private Thread t;
protected void init(int id) {
servo = new AdvancedServo();
servo.open(id);
Logger.Info("Waiting for Servo \"" + id + "\" is attached");
servo.waitForAttachment();
if(!servo.Attached) { throw new AccessViolationException("Robot not Found"); }
}
public abstract void run();
protected void setPosition(int[] pos, int speed) {
for(int i = 0; i < cservos; i++) {
if(pos[i] != -1) {
AdvancedServoServo s = servo.servos[i+ 5 - cservos];
s.Acceleration = speed;
s.Position = pos[i];
}
}
bool waiting = true;
while(waiting) {
waiting = false;
for(int i = 0; i < cservos; i++) {
if(pos[i] != -1) {
AdvancedServoServo s = servo.servos[i + 5 - cservos];
s.Position = pos[i];
try {
if(Math.Abs(s.Position - pos[i]) > 0.01) {
waiting = true;
}
} catch(PhidgetException) {
Logger.Warn("Exeption!");
s.Position = pos[i];
}
Thread.Sleep(10);
}
}
}
}
protected void setStartPosition(int[] positions, int sleep) {
for(int i = 0; i < cservos; i++) {
AdvancedServoServo s = servo.servos[i + 5 - cservos];
s.Type = ServoServo.ServoType.TOWERPRO_MG90;
s.Acceleration = 10000;
s.VelocityLimit = 200;
s.Position = positions[i];
s.Engaged = true;
}
Thread.Sleep(sleep);
}
protected void shutdownServo() {
for(int i = 0; i < cservos; i++) {
servo.servos[i + 5 - cservos].Engaged = false;
}
if(t.IsAlive) {
t.Abort();
}
}
protected void startPowerMess() {
this.t = new System.Threading.Thread(current_runnter);
t.Start();
}
private void current_runnter(object obj) {
DateTime t = DateTime.Now;
double current = 0;
while(true) {
double c = 0;
for(int i = 0; i < 5; i++) {
c += this.servo.servos[0].Current;
}
current += (c * 12 * (DateTime.Now.Ticks - t.Ticks)) / 1000000;
t = DateTime.Now;
Logger.Info(this.name+" Watt: " + current.ToString());
System.Threading.Thread.Sleep(100);
}
}
}
}
ebbits/AdvancedServo-simple/Robots/GlassBot.cs
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using System;
using System.Collections.Generic;
using System.Text;
namespace ebbits.Robots {
class GlassBot : AbstractRobot {
public GlassBot(int id) {
init(id);
this.cservos = 5;
base.name = "Glas";
}
public override void run() {
base.startPowerMess();
setStartPosition(new int[] { 20, 68, 175, 175, 20 }, 500);
setPosition(new int[] { 20, 68, 160, 162, 20 }, 400);
setPosition(new int[] { -1, 154, 88, 88, -1 }, 400);
setPosition(new int[] { -1, -1, 86, 116, 42 }, 200);
setPosition(new int[] { -1, -1, 77, -1, 48 }, 50);
setPosition(new int[] { 160, -1, -1, -1, -1 }, 200);
setPosition(new int[] { -1, -1, 85, -1, -1 }, 20);
setPosition(new int[] { -1, -1, -1, 106, -1 }, 200);
setPosition(new int[] { -1, -1, 118, 122, 174 }, 200);
setPosition(new int[] { -1, 13, -1, -1, -1 }, 300);
setPosition(new int[] { -1, -1, 90, 100, 20 }, 200);
setPosition(new int[] { -1, -1, 80, 94, 26 }, 20); // Fine Settings
System.Threading.Thread.Sleep(1000);
setPosition(new int[] { -1, -1, 90, 90, 20 }, 20); // Fine Lift
setPosition(new int[] { -1, -1, 103, 105, 80 }, 150);
setPosition(new int[] { -1, 154, 118, 122, 174 }, 300);
setPosition(new int[] { -1, -1, 86, 102, 42 }, 300);
setPosition(new int[] { -1, -1, 83, 113, 48 }, 100);
setPosition(new int[] { -1, -1, -1, 117, -1 }, 20);
setPosition(new int[] { 20, -1, 78, -1, -1 }, 150);
setPosition(new int[] { -1, -1, 81, 111, -1 }, 20);
setPosition(new int[] { -1, -1, 90, -1, -1 }, 100);
setPosition(new int[] { 20, 68, 160, 162, 20 }, 400);
setPosition(new int[] { 20, 68, 175, 175, 20 }, 400);
shutdownServo();
}
}
}
ebbits/AdvancedServo-simple/Robots/LaserBot.cs
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using System;
using System.Collections.Generic;
using System.Text;
using ebbits.Arduino;
namespace ebbits.Robots {
class LaserBot : AbstractRobot {
private Arduino.MainArduino Arduino;
public LaserBot(int id, MainArduino a) {
init(id);
base.cservos = 4;
this.Arduino = a;
base.name = "Laser";
}
override public void run() {
base.startPowerMess();
base.setStartPosition(new int[] {77, 175, 155, 84 }, 500);
base.setPosition(new int[] { 77, 157, 134, 84 }, 400);
base.setPosition(new int[] { 83, 96, 114, 44 }, 200);
Arduino.setLaser(MainArduino.ON);
base.setPosition(new int[] { 101, 91, 107, 45 }, 20);
base.setPosition(new int[] { 98, 78, 88, 49 }, 20);
base.setPosition(new int[] { 83, 82, 95, 46 }, 20);
base.setPosition(new int[] { 83, 96, 114, 44 }, 20);
Arduino.setLaser(MainArduino.OFF);
base.setPosition(new int[] { 77, 157, 134, 84 }, 400);
base.setPosition(new int[] { 77, 175, 155, 84 }, 400);
base.shutdownServo();
}
}
}
ebbits/AdvancedServo-simple/Robots/PaintBot.cs
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using System;
using System.Collections.Generic;
using System.Text;
using ebbits.Arduino;
namespace ebbits.Robots {
class PaintBot : AbstractRobot {
private MainArduino Arduino;
public PaintBot(int id, MainArduino a) {
init(id);
this.cservos = 4;
this.Arduino = a;
base.name = "Paint";
}
public override void run() {
base.startPowerMess();
setStartPosition(new int[] {87, 175, 160, 92 }, 500);
setPosition(new int[] {87, 153, 138, 92 }, 400);
setPosition(new int[] {47, 101, 158, 48 }, 200);
Arduino.setColor(MainArduino.RED);
setPosition(new int[] {91, 122, 161, 78 }, 50);
Arduino.setColor(MainArduino.OFF);
setPosition(new int[] {-1, 140, -1, -1 }, 200);
setPosition(new int[] {-1, 71, 55, 110 }, 200);
setPosition(new int[] {-1, 43, 42, 175 }, 200);
Arduino.setColor(MainArduino.RED);
setPosition(new int[] { 79, 42, 39, -1 }, 50);
setPosition(new int[] { 68, 39, 30, -1 }, 50);
setPosition(new int[] { -1, 36, 20, -1 }, 50);
setPosition(new int[] { 64, -1, -1, -1 }, 50);
Arduino.setColor(MainArduino.OFF);
setPosition(new int[] {-1, 44, -1, 150 }, 200);
setPosition(new int[] {57, 68, 70, 139 }, 200);
Arduino.setColor(MainArduino.WHITE);
setPosition(new int[] {53, 74, 79, 158 }, 50);
setPosition(new int[] {89, 86, 98, 150 }, 50);
setPosition(new int[] {-1, 75, 85, 143 }, 50);
setPosition(new int[] { 57, 68, 70, 139 }, 50);
Arduino.setColor(MainArduino.OFF);
setPosition(new int[] { -1, 153, 138, 92 }, 400);
setPosition(new int[] { 87, 175, 160, 92 }, 400);
shutdownServo();
}
}
}