Raspberry Pi 2 with Windows 10 IoT Robot - C#
To see the robot in action you can click the picture below or here: https://youtu.be/aYj2wNEQxco
I used the Raspberry Pi 2 Model B running Windows IoT
This robot kit: (any robot kit with 2 motors will work)
I used this USB Keyboard/Mouse combo from Amazon ($15) (any one will work)
#####Hardware Setup
#####Code This code is written headed but should be used in headless mode. Using the Up, Down, Left, Right or W, A, S, D buttons to control your robot. This was written as a Unviversal Windows App but can be ran a a headless IoT App.
Add this using Windows.UI.Core; statement to the top of your code to read keyboard presses.
Declare variables and set Pin #'s:
private const int leftE_PIN = 25;
private const int left1_PIN = 12;
private const int left2_PIN = 16;
private const int rightE_PIN = 18;
private const int right1_PIN = 24;
private const int right2_PIN = 23;
private GpioPin leftE;
private GpioPin left1;
private GpioPin left2;
private GpioPin rightE;
private GpioPin right1;
private GpioPin right2;
GpioPinValue pinValueHigh = GpioPinValue.High;
GpioPinValue pinValueLow = GpioPinValue.Low;
public MainPage()
{
InitGPIO();
this.InitializeComponent();
CoreWindow.GetForCurrentThread().KeyDown += Window_KeyDown;
CoreWindow.GetForCurrentThread().KeyUp += Window_KeyUp;
}
private void InitGPIO()
{
//Gets the default GPIO if there is only one
GpioController gpio = GpioController.GetDefault();
// Show an error if there is no GPIO controller
if (gpio == null)
{
leftE = null;
left1 = null;
left2 = null;
rightE = null;
right1 = null;
right2 = null;
return;
}
leftE = gpio.OpenPin(leftE_PIN);
left1 = gpio.OpenPin(left1_PIN);
left2 = gpio.OpenPin(left2_PIN);
rightE = gpio.OpenPin(rightE_PIN);
right1 = gpio.OpenPin(right1_PIN);
right2 = gpio.OpenPin(right2_PIN);
leftE.Write(pinValueHigh);
left1.Write(pinValueHigh);
left2.Write(pinValueHigh);
rightE.Write(pinValueHigh);
right1.Write(pinValueHigh);
right2.Write(pinValueHigh);
leftE.SetDriveMode(GpioPinDriveMode.Output);
left1.SetDriveMode(GpioPinDriveMode.Output);
left2.SetDriveMode(GpioPinDriveMode.Output);
rightE.SetDriveMode(GpioPinDriveMode.Output);
right1.SetDriveMode(GpioPinDriveMode.Output);
right2.SetDriveMode(GpioPinDriveMode.Output);
}
private void defaultPins()
{
leftE.Write(pinValueHigh);
left1.Write(pinValueHigh);
left2.Write(pinValueHigh);
rightE.Write(pinValueHigh);
right1.Write(pinValueHigh);
right2.Write(pinValueHigh);
leftE.SetDriveMode(GpioPinDriveMode.Output);
left1.SetDriveMode(GpioPinDriveMode.Output);
left2.SetDriveMode(GpioPinDriveMode.Output);
rightE.SetDriveMode(GpioPinDriveMode.Output);
right1.SetDriveMode(GpioPinDriveMode.Output);
right2.SetDriveMode(GpioPinDriveMode.Output);
}
This is the code that makes the car move. Take note of the different pinValue's.
private void carForward()
{
defaultPins();
leftE.Write(pinValueHigh);
rightE.Write(pinValueHigh);
left1.Write(pinValueLow);
right1.Write(pinValueLow);
left2.Write(pinValueHigh);
right2.Write(pinValueHigh);
}
private void carReverse()
{
defaultPins();
leftE.Write(pinValueHigh);
rightE.Write(pinValueHigh);
left1.Write(pinValueHigh);
right1.Write(pinValueHigh);
left2.Write(pinValueLow);
right2.Write(pinValueLow);
}
private void carRight()
{
defaultPins();
leftE.Write(pinValueHigh);
rightE.Write(pinValueHigh);
left1.Write(pinValueLow);
right1.Write(pinValueHigh);
left2.Write(pinValueHigh);
right2.Write(pinValueLow);
}
private void carLeft()
{
defaultPins();
leftE.Write(pinValueHigh);
rightE.Write(pinValueHigh);
left1.Write(pinValueHigh);
right1.Write(pinValueLow);
left2.Write(pinValueLow);
right2.Write(pinValueHigh);
}
private void carStop()
{
defaultPins();
}
This code tells the robot what to do when it detects a Key has been pushed:
private void Window_KeyDown(CoreWindow sender, KeyEventArgs e)
{
Debug.WriteLine(e.VirtualKey);
if (e.VirtualKey == Windows.System.VirtualKey.Up || e.VirtualKey == Windows.System.VirtualKey.W)
{
carForward();
}
else if (e.VirtualKey == Windows.System.VirtualKey.Down || e.VirtualKey == Windows.System.VirtualKey.S)
{
carReverse();
}
else if (e.VirtualKey == Windows.System.VirtualKey.X)
{
carStop();
}
else if (e.VirtualKey == Windows.System.VirtualKey.Left || e.VirtualKey == Windows.System.VirtualKey.A)
{
carLeft();
}
else if (e.VirtualKey == Windows.System.VirtualKey.Right || e.VirtualKey == Windows.System.VirtualKey.D)
{
carRight();
}
}
This code tells the robot to do when it detects the key is no longer pushed:
private void Window_KeyUp(CoreWindow sender, KeyEventArgs e)
{
Debug.WriteLine(e.VirtualKey);
if (
e.VirtualKey == Windows.System.VirtualKey.Up ||
e.VirtualKey == Windows.System.VirtualKey.W ||
e.VirtualKey == Windows.System.VirtualKey.Down ||
e.VirtualKey == Windows.System.VirtualKey.S ||
e.VirtualKey == Windows.System.VirtualKey.Left ||
e.VirtualKey == Windows.System.VirtualKey.A ||
e.VirtualKey == Windows.System.VirtualKey.Right ||
e.VirtualKey == Windows.System.VirtualKey.D ||
e.VirtualKey == Windows.System.VirtualKey.X
)
{
carStop();
}
}