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en:edu:zmitac:macro:lego:lab:csharp [2018/01/15 22:07] – [Leap Motion Overview] 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 RefPic1>
 {{ :en:edu:zmitac:macro:lego:lab:1.png |}} {{ :en:edu:zmitac:macro:lego:lab:1.png |}}
-<caption>Figure 1, The Hand PalmNormal and Direction define the orientation of the +<caption>The Hand PalmNormal and Direction define the orientation of the 
-hand. Source</caption>+hand. [[https://developer.leapmotion.com/documentation/python/devguide/Leap_Overview.html|Source]]</caption>
 </figure> </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 ====
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 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]]
en/edu/zmitac/macro/lego/lab/csharp.1516050436.txt.gz · Last modified: by sebadab796