GoPiGo v2 with Windows IoT

This project is an extension of the CSharp project provided by Dester Industries on GitHub https://github.com/DexterInd/GoPiGo

There were a few gliches for my GoPiGo2 and some features that I wanted to have working.

I am working on adding a second part to stream the web camera image to the client. I am not looking for real-time stream it can have a delay but have yet to get it functioning. The UWP User application also works with Hololens as a UWP App and I will in the future add a project for a Unity user application.

In the Pin.cs file, I added Trigger = 15, and Echo = 16 to the enum.

In the Led.cs file I changed the internal to public.

And last the UltrasonicRangerSensor.cs I rewrote most of the function

public interface IUltrasonicRangerSensor

{

Task<int> MeasureInCentimeters();

}

internal class UltrasonicRangerSensor : IUltrasonicRangerSensor

{

private const byte CommandAddress = 117;

private readonly GoPiGo _device;

private readonly Pin _pin;

internal UltrasonicRangerSensor(GoPiGo device, Pin pin)

{

_device = device;

_pin = pin;

}

public async Task<int> MeasureInCentimeters()

{

var buffer = new[] { CommandAddress, (byte)_pin, Constants.Unused, Constants.Unused };

_device.DirectAccess.Write(buffer);

await Task.Delay(5);

_device.DirectAccess.Read(buffer);

return buffer[1] * 256 + buffer[2];

}

}