LEGO MINDSTORMS EV3 API
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LEGO MINDSTORMS EV3 APIであるLego.EV3の使い方をわかりやすく説明します！
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LEGO MINDSTORMS EV3 API
- 2. 自己紹介 ▷お仕事の略歴 • システム企画 • インフラ構築 • 業務アプリ構築 • DB設計、構築、各種支援 ▷お仕事外の略歴 • Microsoft MVP for Developer Tools (2008/04-14/03) • Oracle ACE (2008/04-:日本で２人目)
- 4. Kinect本 監修 ▷本文 • 日本語訳 ▷サンプル • ローカライズ済
- 5. 連載中 ▷ • 新型Kinect for Windows v2 Developer Preview プログラミング入門 http://www.buildinsider.net/small/kinect2dp/ • Xbox One速報 http://www.buildinsider.net/consumer/xboxonekine ct/
- 6. EV3
- 8. ソフトウェア
- 10. 接続 EV3 ソフトウェア EV3 Windows XP Windows Vista Windows 7 Windows 8 Windows 8.1 Mac OS 10.6 Mac OS 10.7 Mac OS 10.8 USB WiFi Bluetooth LE
- 11. プログラミング EV3 ソフトウェア EV3 Windows XP Windows Vista Windows 7 Windows 8 Windows 8.1 Mac OS 10.6 Mac OS 10.7 Mac OS 10.8 USB WiFi Bluetooth LE
- 13. New API Userinterface Fundamentals Devices Graphicsandmedia Communicationsanddata Services Geo- location Proximity Direct3D Direct2D Direct Write PlayTo Contracts Bing Azure Mobile HTML5/CSS XAMLInput Controls Authentication Bluetooth USB HID WiFi direct Point of service 3D printing Scanning WebGL HTTP Contacts Appoint- ments PDF Speech synthesis Diagnostics Portable Sensors Playback Capture Printing SVGCanvas Local storage SMS Streams Backgroun dtransfer Syndicatio n Networkin g XML and JSON Skydrive Live tiles and toast Accessibility Databinding Application services Threading timers Memory management Globalization Cryptography Xbox Live NEW
- 14. プログラムを作ろう
- 15. 変数宣言 private RfcommDeviceService DeviceService; private StreamSocket BTPort; private DataWriter BTWriter; private DataReader BTReader;
- 16. 接続 public async Task Connect(string portName) { var servicesInfos = await DeviceInformation.FindAllAsync( RfcommDeviceService.GetDeviceSelector(RfcommServiceId.SerialPort)); foreach (var serviceInfo in servicesInfos) { if (serviceInfo.Name == "EV3") { this.DeviceService = await RfcommDeviceService.FromIdAsync(serviceInfo.Id); break; } } this.BTPort = new StreamSocket(); await BTPort.ConnectAsync( DeviceService.ConnectionHostName, DeviceService.ConnectionServiceName, SocketProtectionLevel.BluetoothEncryptionAllowNullAuthentication); this.BTWriter = new DataWriter(BTPort.OutputStream); this.BTReader = new DataReader(BTPort.InputStream); }
- 17. コマンド送信 Byte[] mergedData = new Byte[header.Length + data.Length]; Array.Copy(header, mergedData, header.Length); Array.Copy(data, 0, mergedData, header.Length, data.Length); this.BTWriter.WriteBytes(mergedData); var sendResult = await this.BTWriter.StoreAsync();
- 18. コマンド送信 Byte[] mergedData = new Byte[header.Length + data.Length]; Array.Copy(header, mergedData, header.Length); Array.Copy(data, 0, mergedData, header.Length, data.Length); this.BTWriter.WriteBytes(mergedData); var sendResult = await this.BTWriter.StoreAsync(); headerの形式は？
- 19. コマンド送信 Byte[] mergedData = new Byte[header.Length + data.Length]; Array.Copy(header, mergedData, header.Length); Array.Copy(data, 0, mergedData, header.Length, data.Length); this.BTWriter.WriteBytes(mergedData); var sendResult = await this.BTWriter.StoreAsync(); headerの形式は？ dataの形式は？
- 20. コマンド送信 Byte[] mergedData = new Byte[header.Length + data.Length]; Array.Copy(header, mergedData, header.Length); Array.Copy(data, 0, mergedData, header.Length, data.Length); this.BTWriter.WriteBytes(mergedData); var sendResult = await this.BTWriter.StoreAsync(); headerの形式は？ dataの形式は？ センサーからの受信は？
- 21. プログラムを作ろう ▷Windows 8.1 Windows RumtimeでBT対応 ▷RfcommDeviceServiceで接続 ▷送受信するデータはバイナリデータ ▷自由にプログラム作るとか正直無理
- 22. Lego.EV3の紹介
- 28. Lego.EV3の構造
- 29. Lego.EV3の構造 Windows 8.1 Windows Runtime Lego.Ev3.WinRT Lego.Ev3.Core Windows ストアアプリ Windows Phone 8 Windows Phone Runtime Lego.Ev3.Phone Lego.Ev3.Core Windows ストアアプリ
- 31. 変数宣言 private RfcommDeviceService DeviceService; private StreamSocket BTPort; private DataWriter BTWriter; private DataReader BTReader;
- 32. 変数宣言 - Lego.EV3 private Lego.Ev3.Core.Brick Connecter;
- 33. 接続 public async Task Connect(string portName) { var servicesInfos = await DeviceInformation.FindAllAsync( RfcommDeviceService.GetDeviceSelector(RfcommServiceId.SerialPort)); foreach (var serviceInfo in servicesInfos) { if (serviceInfo.Name == "EV3") { this.DeviceService = await RfcommDeviceService.FromIdAsync(serviceInfo.Id); break; } } this.BTPort = new StreamSocket(); await BTPort.ConnectAsync( DeviceService.ConnectionHostName, DeviceService.ConnectionServiceName, SocketProtectionLevel.BluetoothEncryptionAllowNullAuthentication); this.BTWriter = new DataWriter(BTPort.OutputStream); this.BTReader = new DataReader(BTPort.InputStream); }
- 34. 接続- Lego.EV3 this.Connecter = new Lego.Ev3.Core.Brick( new Lego.Ev3.WinRT.BluetoothCommunication(this.DeviceName)); await this.Connecter.ConnectAsync(); ▷デバイス名を指定して接続要求し、 ▷接続が完了するまで待つ
- 35. コマンド送信 Byte[] mergedData = new Byte[header.Length + data.Length]; Array.Copy(header, mergedData, header.Length); Array.Copy(data, 0, mergedData, header.Length, data.Length); this.BTWriter.WriteBytes(mergedData); var sendResult = await this.BTWriter.StoreAsync();
- 37. データ受信- Lego.EV3 private void Connecter_BrickChanged( object sender, Lego.Ev3.Core.BrickChangedEventArgs e) { If (e.Ports[Lego.Ev3.Core.InputPort.One].Type != Lego.Ev3.Core.DeviceType.Empty) { this.SenserConnecters(index).Value = e.Ports[Lego.Ev3.Core.InputPort.One].SIValue; } } ▷EV3からのデータ受信イベントで ▷1番ポートからのデータが存在すれば ▷その値を取得する
- 38. ▷Leap.EV3.Core • Brick • BrickButtons • Back / Down / Enter / Left / Right / Up • Port • Mode / Name / PercentValue / RawValue / SIValue / Type • Command • StartMotor / StepMotorAtPower / TimeMoterSync / StopMoter / TurnMotorAtPower / TurnMotorAtPowerForTime / TurnAtSpeed / TurnAtSpeedforTime • DirectCommand • ClearUIAsync • DrawCircleAsync / DrawDottedLineAsync / … • PlaySoundAsync / PlayToneAsync • SystemCommand • CopyFileAsync / DeleteFileAsync / WriteFileAsync
- 40. FIN