暫定BoeBotLibライブラリ

BoeBotLibライブラリ

今まで使用してきたmbed、JBotなどのプログラムをそのままに近い状態で理解できるようにしています。 従って、必ずしも必要ではありませんが、それなりに変換しないと面倒なことになります。
場合によっては変更します。
 一番上の行の#defineでリリースバージョンを指定できます。現在はV4.2.4とV4.2.5のみです。

BoeBotLib.cs
#define V425
//#define V424
using System;
using System.Threading;
using Microsoft.SPOT;
using Microsoft.SPOT.Hardware;
using GHI.OSHW.Hardware;    // FEZCerberus使用のため追加、参照設定にも追加
using System.IO.Ports;      // Microsoft.SPOT.Hardware.SerialPort
using System.Text;          // Encoding.UTF8.GetBytes(str);

#if V425
using Cerb = GHI.Hardware.FEZCerb;
#elif V424
using Cerb = GHI.OSHW.Hardware.FEZCerberus;
#endif
// Microsoft.SPOT.Hardware.PWMを参照設定に追加する

namespace BoeBotLib
{
    public class CPU
    {
        public static Cpu.Pin P03 = (Cpu.Pin)Cerb.Pin.PA8;
        public static Cpu.Pin P04 = (Cpu.Pin)Cerb.Pin.PA13;
        public static Cpu.Pin P05 = (Cpu.Pin)Cerb.Pin.PA7;
        public static Cpu.Pin P06 = (Cpu.Pin)Cerb.Pin.PA6;
        public static Cpu.Pin P07 = (Cpu.Pin)Cerb.Pin.PC10;
        public static Cpu.Pin P08 = (Cpu.Pin)Cerb.Pin.PA14;
        public static Cpu.Pin P09 = (Cpu.Pin)Cerb.Pin.PC11;
        public static Cpu.Pin P10 = (Cpu.Pin)Cerb.Pin.PB4;
        public static Cpu.Pin P11 = (Cpu.Pin)Cerb.Pin.PB9;
        public static Cpu.Pin P12 = (Cpu.Pin)Cerb.Pin.PB3;
        public static Cpu.Pin P13 = (Cpu.Pin)Cerb.Pin.PD2;
        public static Cpu.Pin P14 = (Cpu.Pin)Cerb.Pin.PC12;
        public static Cpu.Pin P16 = (Cpu.Pin)Cerb.Pin.PB8;
        public static Cpu.Pin P18 = (Cpu.Pin)Cerb.Pin.PB7;
        public static Cpu.Pin P19 = (Cpu.Pin)Cerb.Pin.PB6;
        public static Cpu.Pin P20 = (Cpu.Pin)Cerb.Pin.PB5;
        public static Cpu.Pin P22 = (Cpu.Pin)Cerb.Pin.PC0;
        public static Cpu.Pin P23 = (Cpu.Pin)Cerb.Pin.PC1;
        public static Cpu.Pin P24 = (Cpu.Pin)Cerb.Pin.PC2;
        public static Cpu.Pin P25 = (Cpu.Pin)Cerb.Pin.PC3;
        public static Cpu.Pin P26 = (Cpu.Pin)Cerb.Pin.PA0;
        public static Cpu.Pin P27 = (Cpu.Pin)Cerb.Pin.PA1;
        public static Cpu.Pin P28 = (Cpu.Pin)Cerb.Pin.PA2;
        public static Cpu.Pin P29 = (Cpu.Pin)Cerb.Pin.PA3;
        public static Cpu.Pin P30 = (Cpu.Pin)Cerb.Pin.PA4;
        public static Cpu.Pin P31 = (Cpu.Pin)Cerb.Pin.PA5;
        public static Cpu.Pin P32 = (Cpu.Pin)Cerb.Pin.PB10;
        public static Cpu.Pin P33 = (Cpu.Pin)Cerb.Pin.PB11;
        public static Cpu.Pin P34 = (Cpu.Pin)Cerb.Pin.PB14;
        public static Cpu.Pin P35 = (Cpu.Pin)Cerb.Pin.PB15;
        public static Cpu.Pin P36 = (Cpu.Pin)Cerb.Pin.PC6;
        public static Cpu.Pin P37 = (Cpu.Pin)Cerb.Pin.PC7;
        public static Cpu.Pin P38 = (Cpu.Pin)Cerb.Pin.PC8;
        public static Cpu.Pin P39 = (Cpu.Pin)Cerb.Pin.PC9;

        // 重大エラーが起きた時にP39のLEDを光らせる
        public static void PanicLED()
        {
            DigitalOut Panic = new DigitalOut(Cerb.Pin.PC9, false);
            for (int i = 0; i < 7; i++)
            {
                Panic.Write(true);
                Thread.Sleep(50);
                Panic.Write(false);
                Thread.Sleep(50);
            }
            Panic.Dispose();
        }
        public static void delay(int n)
        {
            Thread.Sleep(n);
        }
        public static void wait_ms(int n)
        {
            Thread.Sleep(n);
        }
        public static void wait(double n)
        {
            Thread.Sleep((int)(n * 1000));
        }

        static inArray[] Din = new inArray[4];// 注意
        static int usePin = 0;
        public static void setInput(Cpu.Pin pin)
        {
            InputPort port = new InputPort(pin, false, Port.ResistorMode.PullUp);
            Din[usePin].inp = port;
            Din[usePin++].pin = pin;
        }
        public static bool readPin(Cpu.Pin pin)
        {
            int i;
            for (i = 0; i < usePin; i++)
            {
                if (Din[i].pin == pin) break;
            }
            if (i == usePin) return false;// exception
            return Din[i].inp.Read();
        }
        static outArray[] Dout = new outArray[4];// 注意
        static int usePout = 0;
        public static void setOutput(Cpu.Pin pin)
        {
            OutputPort port = new OutputPort(pin, false);
            Dout[usePout].outp = port;
            Dout[usePout++].pin = pin;
        }
        public static bool writePin(Cpu.Pin pin, bool val)
        {
            int i;
            for (i = 0; i < usePout; i++)
            {
                if (Dout[i].pin == pin) break;
            }
            if (i == usePout) return false;// exception
            Dout[i].outp.Write(val);
            return true;
        }
    }

    struct inArray
    {
        public InputPort inp;
        public Cpu.Pin pin;
    }
    struct outArray
    {
        public OutputPort outp;
        public Cpu.Pin pin;
    }

    public class ServoMotor
    {
        Cpu.PWMChannel port;
        PWM pwm;
        uint period, high;
        private static Microsoft.SPOT.Hardware.InterruptPort _interruptPort;
        public static bool stopState = false;

        public uint Dulation
        {
            get { return high; }
            set
            {
                high = value;
                pwm.Duration = value;
            }
        }
        public double DutyCycle
        {
            get { return pwm.DutyCycle; }
            set
            {
                pwm.DutyCycle = value;
            }
        }

        public ServoMotor(Cpu.PWMChannel pin)
        {
            pwm = new PWM(pin, 20000, 1500, PWM.ScaleFactor.Microseconds, false);
        }

        public ServoMotor(Cpu.Pin pin)
        {
            Cpu.Pin[] PWMpin = { CPU.P36, CPU.P05, CPU.P37, CPU.P03 };
            for (int i = 0; i < PWMpin.Length; i++)
            {
                if (PWMpin[i] == pin)
                {
                    port = (Cpu.PWMChannel)i;
                    break;
                }
            }
            pwm = new PWM(port, 20000, 1500, PWM.ScaleFactor.Microseconds, false);
        }

        static public void setInterrupt(Cpu.Pin pin)
        {
            _interruptPort = new InterruptPort(pin, true, Port.ResistorMode.PullUp, Port.InterruptMode.InterruptEdgeLow);
            _interruptPort.OnInterrupt += new NativeEventHandler(button_OnInterrupt);
            stopState = false;
        }

        public void SetSpeed(uint highTime)
        {
            pwm.Duration = highTime;     // 周期:20ms
        }
        public void SetSpeed(double highTime)
        {
            pwm.Duration = (uint)(20000 * highTime);     // 周期:20ms
        }

        public void move(int speed, int forward, int center, int backward)
        {
            uint t = (uint)((((speed > 0) ? forward : backward) * speed) / 100 + center);

        }
        public void update(uint highTime, uint lowTime)
        {
            period = highTime + lowTime;
            high = highTime;
            pwm.Duration = highTime;
        }
        public void Start()
        {
            pwm.Start();
        }
        public void Stop()
        {
            pwm.Stop();
        }

        public void Dispose()
        {
            pwm.Dispose();
        }
        static void button_OnInterrupt(uint data1, uint data2, DateTime time)
        {
            stopState = true;
        }
    }

    public class ADcon : IDisposable
    {
        AnalogInput adc;
        public int Value
        {
            get
            {
                return adc.ReadRaw();
            }
        }
        public void Dispose()
        {
            adc.Dispose();
        }

        public ADcon(Cpu.AnalogChannel pin)
        {
            adc = new AnalogInput(pin);
        }

        public ADcon(Cpu.Pin pin)
        {
            Cpu.AnalogChannel port = Cpu.AnalogChannel.ANALOG_0;
            Cpu.Pin[] ADpin = { CPU.P06, CPU.P28, CPU.P29, CPU.P22, CPU.P23, CPU.P30, CPU.P24, CPU.P25 };
            for (int i = 0; i < ADpin.Length; i++)
            {
                if (ADpin[i] == pin)
                {
                    port = (Cpu.AnalogChannel)i;
                    break;
                }
            }
            adc = new AnalogInput(port);
        }
        public int GetValue()
        {
            return adc.ReadRaw();
        }
        public double Read()
        {
            return adc.Read();
        }
    }

    /// 
    /// 単位は0.1μ秒となる
    /// 
    public class Timer
    {
        DateTime markTime;
        public Timer()
        {
            mark();
        }

        public void mark()
        {
            markTime = DateTime.Now;
        }
        public bool timeout(int hi, int lo)
        {
            if (hi <= (DateTime.Now - markTime).Ticks) return true;
            return false;
        }
        public bool timeout(int hi)
        {
            if (hi <= (DateTime.Now - markTime).Ticks) return true;
            return false;
        }
        public bool timeout(long hi)
        {
            if (hi <= (DateTime.Now - markTime).Ticks) return true;
            return false;
        }
        public static void delay(int tm)
        {
            DateTime markTime = DateTime.Now;
            while ((DateTime.Now - markTime).Ticks <= tm) ;
        }

        public long Time
        {
            get
            {
                return (DateTime.Now - markTime).Ticks;
            }
        }
    }

    // OutputPortに<<演算子オーバーライドさせ
    // LED <<= 1、LED <<= 0 でON/OFFの記述ができるようにする
    public class DigitalOut : OutputPort
    {
        public bool Value
        {
            get
            {
                return Read();
            }
            set
            {
                Write(value);
            }
        }

        public DigitalOut(Cpu.Pin pin)
            : base(pin, false)
        { }
        public DigitalOut(Cpu.Pin pin, bool state)
            : base(pin, state)
        { }

        //  glitchFilter: true if the glitch filter is enabled; otherwise, false.
        // resistor     : The resistor mode that establishes a default state for the output port.

        public DigitalOut(Cpu.Pin pin, bool state,
            bool glitchFilter, ResistorMode resistor)
            : base(pin, state, glitchFilter, resistor)
        { }


        public static DigitalOut operator <<(DigitalOut obj, int state)
        {
            obj.Write(state == 0 ? false : true);
            return obj;
        }
    }

    public class DigitalIn : InputPort
    {
        public bool Value
        {
            get
            {
                return Read();
            }
        }
        public DigitalIn(Cpu.Pin pin)
            : base(pin, false, Port.ResistorMode.PullUp)
        { }
    }
}

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