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BlubbFish
2015-12-01 15:58:07 +00:00
parent 662c59de0d
commit fac00f4a2a
10 changed files with 574 additions and 241 deletions
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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);
}
}
}
}
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, 82, 97, 25 }, 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, -1, -1, -1, 174 }, 300);
setPosition(new int[] { -1, 154, 118, 122, -1 }, 300);
setPosition(new int[] { -1, -1, 86, 102, 42 }, 300);
setPosition(new int[] { -1, -1, 81, 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();
}
}
}
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, 97, 116, 44 }, 200);
Arduino.setLaser(MainArduino.ON);
base.setPosition(new int[] { 102, 90, 108, 42 }, 20);
base.setPosition(new int[] { 98, 79, 90, 48 }, 20);
base.setPosition(new int[] { 83, 82, 95, -1 }, 20);
base.setPosition(new int[] { 83, 97, 116, 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();
}
}
}
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[] {44, 111, 161, 63 }, 200);
Arduino.setColor(MainArduino.RED);
setPosition(new int[] {90, -1, -1, -1 }, 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[] {60, 33, 22, -1 }, 50);
Arduino.setColor(MainArduino.OFF);
setPosition(new int[] {-1, 63, 45, 150 }, 200);
setPosition(new int[] {50, 68, 76, 132 }, 200);
Arduino.setColor(MainArduino.WHITE);
setPosition(new int[] {-1, -1, -1, 160 }, 100);
setPosition(new int[] {60, -1, -1, 172 }, 100);
setPosition(new int[] {-1, -1, -1, 144 }, 100);
setPosition(new int[] {70, -1, -1, 150 }, 100);
setPosition(new int[] {-1, -1, -1, 175 }, 100);
setPosition(new int[] {80, -1, -1, -1 }, 100);
setPosition(new int[] {-1, -1, -1, 155 }, 100);
setPosition(new int[] {90, 74, 84, 148 }, 100);
setPosition(new int[] {-1, -1, -1, 175 }, 100);
setPosition(new int[] {100, -1, -1, 166 }, 100);
setPosition(new int[] {-1, -1, -1, 146 }, 100);
Arduino.setColor(MainArduino.OFF);
setPosition(new int[] { -1, -1, 100, -1, -1 }, 200);
setPosition(new int[] { 0, 87, 175, 160, 92 }, 400);
shutdownServo();
}
}
}