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en:edu:zmitac:macro:lego:lab:csharp [2018/01/15 21:54] – [Coordinates System] sebadab796en:edu:zmitac:macro:lego:lab:csharp [2018/01/28 05:59] (current) – patrkaz065
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-===== Laboratory on LEGO Mindstorms - Programming NXT in C# =====+===== Laboratory on LEGO Mindstorms - EV3 C# Programming Theory & Practice =====
  
 +==== Introduction ====
 +
 +This tutorial shows the basics of programming theory and practice of LEGO EV3 robot in C# language. The physical behaviour and parameters of the robot are represented by set of methods and fields assigned to appropriate classes. 
 +In order to control the behaviour of the robot, appropriate classes have to be instantiated and initialized and appropriate methods have to be called. For example, the EV3 brick is represented in code by the class Brick.
 +
 +
 +==== C# Example - Controlling EV3 movement with hand gestures ====
 +The example is program which navigates the EV3 depending on the hand movement detected by kinect device.
 +The EV3 robot brick is represented in the C# code by class brick. The following code creates a new brick instance and initializes it with the new blutooth connection assigned to given port (COM4 in this case). Then, asynchronous bluetooth connection is etablished and confirmation sound is played on the robot side:
 +
 +
 +<code>
 +_brick = new Brick(new BluetoothCommunication("COM4"));
 +_brick.ConnectAsync();
 +_brick.DirectCommand.PlayToneAsync(10, 1000, 300);
 +</code>
 +
 +
 +The idea is such: asynchronously detect the movement of hands and take into account joints placement - basing on its coordinates the relative position of hand with respect to shoulders will be recognized. All neccessary data is given in argument "joints"
 +
 +<code>
 +this.DrawHandAsync(body.HandLeftState, jointPoints[JointType.HandLeft], dc, joints);
 +this.DrawHandAsync(body.HandRightState, jointPoints[JointType.HandRight], dc, joints);
 +</code>
 +
 +
 +In the above method, hand and shoulder variables (both right) should be defined:
 +<code>
 +Joint rShoulder = joints[JointType.ShoulderRight];
 +Joint rHand = joints[JointType.HandRight];
 +</code>
 +
 +Basing on the relative placement of the hand with respect to the shoulder, the appropriate action is performed (movement method is called). The mathematical comparisons are simply horizontal and vertical displacements between shoulders and hands.
 +
 +<code>
 +drawingContext.DrawEllipse(this.handClosedBrush, null, handPosition, HandSize, HandSize);
 +if (Math.Abs(rShoulder.Position.X - rHand.Position.X) < Math.Abs(rShoulder.Position.Y-rHand.Position.Y))
 +{
 +   if (rHand.Position.Y > rShoulder.Position.Y)
 +      goForward();
 +   else
 +      goBackward();
 +} else
 +{
 +   if (rHand.Position.X > rShoulder.Position.X)
 +      turnRight();
 +   else
 +      turnLeft();
 +}
 +</code>
 +
 +The movement functions are self explanatory and designed in the following way, calling the direct brick commands with appropriate parameters to move the robot as expected.
 +
 +<code>
 +private async void goForward()
 +{
 +   _brick.DirectCommand.TurnMotorAtPowerAsync(OutputPort.B|OutputPort.D,20);
 +}
 +
 +
 +private async void turnRight()
 +{
 +   _brick.DirectCommand.TurnMotorAtPowerAsync(OutputPort.B, 20);
 +   _brick.DirectCommand.TurnMotorAtPowerAsync(OutputPort.D, 0);
 +}
 +</code>
  
  
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   * Reports the physical characteristics of a detected hand.   * Reports the physical characteristics of a detected hand.
   * It’s tracking data includes a palm position and velocity, vectors for the palm normal and direction to the fingers and lists of the attached fingers.   * It’s tracking data includes a palm position and velocity, vectors for the palm normal and direction to the fingers and lists of the attached fingers.
-  * More information: [[https://developer.leapmotion.com/documentation/cpp/api/gen-cpp/class_leap_1_1_hand.html#details]] 
  
- +<figure RefPic1> 
-Figure 1, The Hand PalmNormal and Direction define the orientation of the +{{ :en:edu:zmitac:macro:lego:lab:1.png |}} 
-hand. Source: https://developer.leapmotion.com/documentation/+<caption>The Hand PalmNormal and Direction define the orientation of the 
 +hand. [[https://developer.leapmotion.com/documentation/python/devguide/Leap_Overview.html|Source]]</caption> 
 +</figure>
  
 === Arm === === Arm ===
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   * Bone-like class that represents the forearm.   * Bone-like class that represents the forearm.
   * Provides the orientation, length width and end points of an arm.   * Provides the orientation, length width and end points of an arm.
-  * More information: Arm class details. 
  
 === Finger === === Finger ===
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   * Information is provided for each finger on the tracked hand (characteristics or partially/not visible fingers are estimated)   * Information is provided for each finger on the tracked hand (characteristics or partially/not visible fingers are estimated)
   * Fingers are identified by type name, i.e. thumb, index.   * Fingers are identified by type name, i.e. thumb, index.
-  * More information: Finger class details. 
  
-PAGE 2Figure 2.Finger TipPosition and Direction vectors provide the position of a +<figure RefPic2> 
-finger tip and the general direction in which a finger is pointing. Source: +{{ :en:edu:zmitac:macro:lego:lab:2.png |}} 
-https://developer.leapmotion.com/documentation/+<caption>Finger TipPosition and Direction vectors provide the position of a 
 +finger tip and the general direction in which a finger is pointing. [[https://developer.leapmotion.com/documentation/csharp/devguide/Sample_Tutorial.html|Source]]</caption> 
 +</figure>
  
 === Bone === === Bone ===
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   * Provided by a Finger object.   * Provided by a Finger object.
   * Bones are ordered from base to tip, indexed from 0 to 3 (the thumb does not have a base metacarpal bone and therefore contains a valid, zero length at that location).   * Bones are ordered from base to tip, indexed from 0 to 3 (the thumb does not have a base metacarpal bone and therefore contains a valid, zero length at that location).
-  * More information: Details on Bone class. 
 ==== Coordinates System ==== ==== Coordinates System ====
  
 The Leap Motion system employs a right-handed Cartesian coordinate system. The origin is centered at the top of the Leap Motion Controller. The x- and z-axes lie in the horizontal plane, with the x-axis running parallel to the long edge of the device. The y-axis is vertical, with positive values increasing upwards (in contrast to the downward orientation of most computer graphics coordinate systems). The z-axis has positive values increasing toward the user.  The Leap Motion system employs a right-handed Cartesian coordinate system. The origin is centered at the top of the Leap Motion Controller. The x- and z-axes lie in the horizontal plane, with the x-axis running parallel to the long edge of the device. The y-axis is vertical, with positive values increasing upwards (in contrast to the downward orientation of most computer graphics coordinate systems). The z-axis has positive values increasing toward the user. 
  
-PAGE 3Figure 3. The Leap Motion right-handed coordinate system. Source: +<figure RefPic3> 
-https://developer.leapmotion.com/documentation/+{{ :en:edu:zmitac:macro:lego:lab:3.png |}} 
 +<caption>The Leap Motion right-handed coordinate system. [[https://developer.leapmotion.com/documentation/csharp/devguide/Leap_Coordinate_Mapping.html|Source]]</caption> 
 +</figure> 
 ==== System Architecture ==== ==== System Architecture ====
  
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   * In case of C# the library is not linked directly, but with use of the special wrapper for binding   * In case of C# the library is not linked directly, but with use of the special wrapper for binding
  
-PAGE 4Figure 4.Leap-enabled application.  +<figure RefPic4> 
-Source: +{{ :en:edu:zmitac:macro:lego:lab:4.png |}} 
-https://developer.leapmotion.com/documentation/+<caption>Leap-enabled application. [[https://developer.leapmotion.com/documentation/csharp/devguide/Leap_Architecture.html|Source]]</caption> 
 +</figure>
  
 === WebSocket Interface === === WebSocket Interface ===
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   * Tracking data in the form of JSON messages   * Tracking data in the form of JSON messages
   * JavaScript client is available for convenience   * JavaScript client is available for convenience
-  * More information: Details 
  
 ==== Setting Up a Project ==== ==== Setting Up a Project ====
-NOTE: The Motion Leap libraries (file LeapCSharp.NETx.x.dll located + 
-in the lib folder of the Leap SDK package) are expected to be loaded +The Motion Leap libraries (file LeapCSharp.NETx.x.dll located in the lib folder of the Leap SDK package) are expected to be loaded from the same directory as the executable of the application, so it’s required that SDK is downloaded. The linking step will be covered later. 
-from the same directory as the executable of the application, so it’s +=== Hello World C# === 
-required that SDK is downloaded. The linking step will be covered + 
-later. +  * Create new project of the WPF or Windows Forms type. 
-PAGE 5Hello World C#: +  * Add a reference to one of the pre-built libraries: 
-1. Create new project of the WPF or Windows Forms type. +  * Select Project > Add Reference. 
-2. Add a reference to one of the pre-built libraries: +  * In the References dialog, select Browse. 
-2.1. +  * Browse to Leap Motion SDK folder. 
-Select Project > Add Reference. +  * Choose the appropriate library for your project (depending on the version of .NET being used) 
-2.2. +  * Set the target platform to x86 or x64 
-In the References dialog, select Browse. +  * Select Project > Properties. 
-PAGE 62.3. +  * Select Build page. 
-Browse to Leap Motion SDK folder. +  * Set the Configuration to All Configurations. 
-2.4. +  * Under General, set Platform target to x86 or x64. 
-Choose the appropriate library for your project +  * Edit the Post Build Event to copy the native libraries to the project’s target executable directory. 
-(depending on the version of .NET being used) + 
-PAGE 73. Set the target platform to x86 or x64 +<note important>If you are creating a 64-bit application, use the libraries in the lib/x64 directory, not the 32-bit libraries in the lib/x86 directory.</note> 
-3.1. + 
-Select Project > Properties. +  * Open the project properties page. 
-3.2. +  * Select the Build Events page. 
-3.3. +  * Click Edit Post-build. 
-3.4. +  * Edit the event field to copy the libraries: 
-Select Build page. +  * For 32-bit projects add: <code c>xcopy /yr "$(LEAP_SDK)\lib\x86\LeapC.dll" "$(TargetDir)"</code> 
-Set the Configuration to All Configurations. +  * For 64-bit projects add: <code c>xcopy /yr "$(LEAP_SDK)\lib\x64\LeapC.dll" "$(TargetDir)"</code> 
-Under General, set Platform target to x86 or x64. +  * Add your source code!
-PAGE 84. Edit the Post Build Event to copy the native libraries to the +
-project’s target executable directory. +
-4.1. +
-Important: If you are creating a 64-bit application, use +
-the libraries in the lib/x64 directory, not the 32-bit libraries in +
-the lib/x86 directory. +
-4.2. +
-Open the project properties page. +
-4.3. +
-Select the Build Events page. +
-4.4. +
-Click Edit Post-build. +
-4.5. +
-Edit the event field to copy the libraries: +
-4.5.1. For 32-bit projects add: +
-xcopy /yr "$(LEAP_SDK)\lib\x86\LeapC.dll" "$(TargetDir)" +
-4.5.2. For 64-bit projects add: +
-xcopy /yr "$(LEAP_SDK)\lib\x64\LeapC.dll" "$(TargetDir)" +
-5. Add your source code!+
 ==== Sample source code ==== ==== Sample source code ====
 Sample source code can be found here: Sample source code can be found here:
 {{ :en:edu:zmitac:macro:lego:lab:leapexample.zip |}} {{ :en:edu:zmitac:macro:lego:lab:leapexample.zip |}}
  
-<note important>Make sure that the reference to Leap Motion dll library is valid</note>+<note important>Make sure that the reference to Leap Motion dll library provided in project is valid</note>
  
 ==== Citations ==== ==== Citations ====
 All citations, used images and more information about Leap Motion All citations, used images and more information about Leap Motion
 can be found here: can be found here:
-https://developer.leapmotion.com/documentation/csharp/devguide/Sample_Tutorial.html +  * [[https://developer.leapmotion.com/documentation/csharp/devguide/Sample_Tutorial.html|Sample_Tutorial]] 
-https://developer.leapmotion.com/documentation/python/devguide/Leap_Overview.html +  * [[https://developer.leapmotion.com/documentation/python/devguide/Leap_Overview.html|Leap_Overview]] 
-https://developer.leapmotion.com/documentation/csharp/devguide/Leap_Architecture.html +  * [[https://developer.leapmotion.com/documentation/csharp/devguide/Leap_Architecture.html|Leap_Architecture]] 
-https://developer.leapmotion.com/documentation/csharp/devguide/Leap_Coordinate_Mapping.html+  * [[https://developer.leapmotion.com/documentation/csharp/devguide/Leap_Coordinate_Mapping.html|Leap_Coordinate_Mapping]]
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