ebbits/AdvancedServo-simple/Arduino/MainArduino.cs

using System;
using System.Collections.Generic;
using System.Text;


namespace ebbits.Arduino {
  class MainArduino : AbstractArduino {
    public const int ON = 1;
    public const int OFF = 0;
    public const int RED = 2;
    public const int WHITE = 7;

    public MainArduino(string port) {
      init(port);
      trainOn(1);
    }

    public void setLaser(byte p) {
      serialSend('l', 1, p);
    }

    public void setColor(byte p) {
      serialSend('c', 1, p);
    }

    public void trainOn(byte dir) {
      serialSend('p', 2, 70); //Speed = 1
      changeDir(dir); //Richtung = 1
      serialSend('b', 2, 1); //Bremse = an
    }

    public void trainMove(byte speed) {
      serialSend('b', 2, 0); //Bremse aus
      serialSend('p', 2, speed);
    }

    internal void changeDir(byte dir) {
      serialSend('d', 2, dir); //Richtung = 0
    }

    public bool readStop(char key, byte id) {
      ArduinoInput a = base.getInputWait(key, id);
      return true;
    }

    public void measureAndStop(char key, byte id) {
      System.Threading.Thread t = new System.Threading.Thread(current_runnter);
      t.Start();
      this.readStop(key, id);
      t.Abort();
      base.clearStack('u');
    }

    private void current_runnter(object obj) {
      DateTime t = DateTime.Now;
      float current = 0;
      while(true) {
        long c = readCurrent();
        current += ((float)c / 1000 * 12 * (DateTime.Now.Ticks - t.Ticks)) / 1000000;
        t = DateTime.Now;
        Logger.Info("Train Watt: " + current.ToString());
        System.Threading.Thread.Sleep(100);
      }
    }

    public long whereRead() {
      serialSend('q', 0, 0);
      ArduinoInput a = base.getInputWait('q');
      return a.value;
    }

    public long readCurrent() {
      serialSend('u', 1, 0);
      ArduinoInput a = base.getInputWait('u');
      return a.value;
    }

    public bool findStart() {
      changeDir(0);
      if(this.whereRead() == 0) {
        trainMove(70);
        System.Threading.Thread.Sleep(3000);
      }
      if(this.whereRead() == 0) {
        changeDir(1);
        System.Threading.Thread.Sleep(3000);
      }
      if(this.whereRead() == 0) {
        trainOn(1);
        return false;
      }
      trainOn(1);
      changeDir(0);
      Logger.Info("Lock gefunden und stehe auf: " + this.whereRead());
      base.clearStack();
      switch(this.whereRead()) {
        case 6:
          Logger.Info("Fahre von 6 nach 5");
          trainMove(70);
          readStop('r',4);
          trainMove(70);
          readStop('r',5);
          break;
        case 4:
          Logger.Info("Fahre von 4 nach 5");
          trainMove(70);
          readStop('r',5);
          break;
        case 3:
          Logger.Info("Fahre von 3 nach 5");
          trainMove(70);
          readStop('r',2);
          trainMove(70);
          readStop('r',1);
          trainMove(70);
          readStop('r',5);
          break;
        case 2:
          Logger.Info("Fahre von 2 nach 5");
          trainMove(70);
          readStop('r',1);
          trainMove(70);
          readStop('r',5);
          break;
        case 1:
          Logger.Info("Fahre von 1 nach 5");
          trainMove(70);
          readStop('r',5);
          break;
      }
      trainOn(1);
      Logger.Info("Stehe nun auf: " + this.whereRead());
      return (this.whereRead() == 5);
    }

    public bool trainSwitchIsOff() {
      serialSend('s', 0, 0);
      ArduinoInput a = base.getInputWait('s');
      return a.value == 0;
    }
  }
}