Added MindSqualls code

NybbleLynx · Feb 18, 2019 · 3948be7 · 3948be7
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diff --git a/Help/MindSqualls_v2_2.chm b/Help/MindSqualls_v2_2.chm
diff --git a/NKH.MindSqualls.sln b/NKH.MindSqualls.sln
@@ -0,0 +1,31 @@
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio 15
+VisualStudioVersion = 15.0.28307.271
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "NKH.MindSqualls", "Source\NKH.MindSqualls\NKH.MindSqualls.csproj", "{9973018E-FC09-4549-A484-0B702ADE1EE9}"
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "WinUsbWrapper", "Source\WinUsbWrapper\WinUsbWrapper.csproj", "{40C6E946-D5AC-43B8-AEDE-D896E9CBB3E2}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|Any CPU = Debug|Any CPU
+		Release|Any CPU = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{9973018E-FC09-4549-A484-0B702ADE1EE9}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{9973018E-FC09-4549-A484-0B702ADE1EE9}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{9973018E-FC09-4549-A484-0B702ADE1EE9}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{9973018E-FC09-4549-A484-0B702ADE1EE9}.Release|Any CPU.Build.0 = Release|Any CPU
+		{40C6E946-D5AC-43B8-AEDE-D896E9CBB3E2}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{40C6E946-D5AC-43B8-AEDE-D896E9CBB3E2}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{40C6E946-D5AC-43B8-AEDE-D896E9CBB3E2}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{40C6E946-D5AC-43B8-AEDE-D896E9CBB3E2}.Release|Any CPU.Build.0 = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+		SolutionGuid = {8B249E41-851F-4D50-833E-D2BE5AD69896}
+	EndGlobalSection
+EndGlobal
diff --git a/Source/NKH.MindSqualls/HiTechnicAccelerationSensor.cs b/Source/NKH.MindSqualls/HiTechnicAccelerationSensor.cs
@@ -0,0 +1,169 @@
+namespace NKH.MindSqualls.HiTechnic
+{
+    /// <summary>
+    /// <para>Class representing the Acceleration / Tilt Sensor sensor from HiTechnic:
+    /// <a href="http://www.hitechnic.com" target="_blank">http://www.hitechnic.com</a></para>
+    /// </summary>
+    /// <remarks>
+    /// <para>A special thanks to the people at HiTechnic for providing me with the necessary technical information.</para>
+    /// <para>Also a special thanks to Ronny H. for providing me with qualified implementation details on the acceleration sensor before I had purchased my own copy.</para>
+    /// </remarks>
+    public class HiTechnicAccelerationSensor : NxtDigitalSensor
+    {
+        /// <summary>
+        /// <para>Constructor.</para>
+        /// </summary>
+        public HiTechnicAccelerationSensor()
+            : base()
+        { }
+
+        #region Sensor readings.
+
+        /// <summary>
+        /// <para>Acceleration coordinate of the X-axis.</para>
+        /// </summary>
+        /// <returns>The acceleration coordinate</returns>
+        public double? XAxisAcceleration()
+        {
+            return XyzAxisAcceleration(XAxisUpper8Bits());
+        }
+
+        /// <summary>
+        /// <para>Acceleration coordinate of the Y-axis.</para>
+        /// </summary>
+        /// <returns>The acceleration coordinate</returns>
+        public double? YAxisAcceleration()
+        {
+            return XyzAxisAcceleration(YAxisUpper8Bits());
+        }
+
+        /// <summary>
+        /// <para>Acceleration coordinate of the Z-axis.</para>
+        /// </summary>
+        /// <returns>The acceleration coordinate</returns>
+        public double? ZAxisAcceleration()
+        {
+            return XyzAxisAcceleration(ZAxisUpper8Bits());
+        }
+
+        /// <summary>
+        /// <para>Change this value, to finetune the value of the acceleration sensor.</para>
+        /// <para>The current value, = 9.82/206.3, is the best fit for my own sensor.</para>
+        /// <remarks>
+        /// <para>The component used in the sensor is only guaranteed to be accurate to +/- 10%.</para>
+        /// </remarks>
+        /// </summary>
+        public double scalíng = 9.82 / 200;
+
+        private double? XyzAxisAcceleration(sbyte? xyz)
+        {
+            if (!xyz.HasValue) return null;
+
+            int tmpXyz = xyz.Value;
+
+            // Reverse the sign.
+            tmpXyz *= -1;
+
+            // Shift 2 bits up.
+            tmpXyz = tmpXyz << 2;
+
+            return scalíng * tmpXyz;
+        }
+
+        #endregion
+
+        #region I2C protocol.
+
+        /// <summary>
+        /// <para>X axis upper 8 bits</para>
+        /// </summary>
+        /// <returns>The X-component of the acceleration vector</returns>
+        /// <seealso cref="YAxisUpper8Bits"/>
+        /// <seealso cref="ZAxisUpper8Bits"/>
+        /// <seealso cref="XAxisLower2Bits"/>
+        public sbyte? XAxisUpper8Bits()
+        {
+            byte? xAxisUpper8 = ReadByteFromAddress(0x42);
+            if (xAxisUpper8.HasValue)
+                return (sbyte)xAxisUpper8.Value;
+            else
+                return null;
+        }
+
+        /// <summary>
+        /// <para>Y axis upper 8 bits</para>
+        /// </summary>
+        /// <returns>The Y-component of the acceleration vector</returns>
+        /// <seealso cref="XAxisUpper8Bits"/>
+        /// <seealso cref="ZAxisUpper8Bits"/>
+        /// <seealso cref="YAxisLower2Bits"/>
+        public sbyte? YAxisUpper8Bits()
+        {
+            byte? yAxisUpper8 = ReadByteFromAddress(0x43);
+            if (yAxisUpper8.HasValue)
+                return (sbyte)yAxisUpper8.Value;
+            else
+                return null;
+        }
+
+        /// <summary>
+        /// <para>Z axis upper 8 bits</para>
+        /// </summary>
+        /// <returns>The Z-component of the acceleration vector</returns>
+        /// <seealso cref="XAxisUpper8Bits"/>
+        /// <seealso cref="YAxisUpper8Bits"/>
+        /// <seealso cref="ZAxisLower2Bits"/>
+        public sbyte? ZAxisUpper8Bits()
+        {
+            byte? zAxisUpper8 = ReadByteFromAddress(0x44);
+            if (zAxisUpper8.HasValue)
+                return (sbyte)zAxisUpper8.Value;
+            else
+                return null;
+        }
+
+        /// <summary>
+        /// <para>X axis lower 2 bits</para>
+        /// </summary>
+        /// <remarks>
+        /// <para>Should only be used if the full precision is needed.</para>
+        /// </remarks>
+        /// <returns>The lower 2 bits of the X-component of the acceleration vector</returns>
+        /// <seealso cref="XAxisUpper8Bits"/>
+        public byte? XAxisLower2Bits()
+        {
+            return ReadByteFromAddress(0x45);
+        }
+
+        /// <summary>
+        /// <para>Y axis lower 2 bits</para>
+        /// </summary>
+        /// <remarks>
+        /// <para>Should only be used if the full precision is needed.</para>
+        /// </remarks>
+        /// <returns>The lower 2 bits of the Y-component of the acceleration vector</returns>
+        /// <seealso cref="YAxisUpper8Bits"/>
+        public byte? YAxisLower2Bits()
+        {
+            return ReadByteFromAddress(0x46);
+        }
+
+        /// <summary>
+        /// <para>Z axis lower 2 bits</para>
+        /// </summary>
+        /// <remarks>
+        /// <para>Should only be used if the full precision is needed.</para>
+        /// </remarks>
+        /// <returns>The lower 2 bits of the Z-component of the acceleration vector</returns>
+        /// <seealso cref="ZAxisUpper8Bits"/>
+        public byte? ZAxisLower2Bits()
+        {
+            return ReadByteFromAddress(0x47);
+        }
+
+        #endregion
+
+        #region NXT-G like events & NxtPollable overrides.
+        #endregion
+    }
+}
diff --git a/Source/NKH.MindSqualls/HiTechnicColorSensor.cs b/Source/NKH.MindSqualls/HiTechnicColorSensor.cs
@@ -0,0 +1,134 @@
+using System;
+
+namespace NKH.MindSqualls.HiTechnic
+{
+    /// <summary>
+    /// <para>Class representing the Color sensor from HiTechnic:
+    /// <a href="http://www.hitechnic.com" target="_blank">http://www.hitechnic.com</a></para>
+    /// </summary>
+    /// <remarks>
+    /// <para>The HiTechnic color sensor should not be confused with the NXT 2.0 color sensor.</para>
+    /// <para>A special thanks to the people at HiTechnic for providing me with the necessary technical information.</para>
+    /// </remarks>
+    /// <seealso cref="Nxt2ColorSensor"/>
+    public class HiTechnicColorSensor : NxtDigitalSensor
+    {
+        /// <summary>
+        /// <para>Constructor.</para>
+        /// </summary>
+        public HiTechnicColorSensor()
+            : base()
+        { }
+
+        #region Sensor readings
+        #endregion
+
+        #region I2C protocol
+
+        /// <summary>
+        /// <para>Returns a single number color estimate.</para>
+        /// </summary>
+        public byte? ColorNumber
+        {
+            get { return ReadByteFromAddress(0x42); }
+        }
+
+        /// <summary>
+        /// <para>Returns the current detection level for the color red.</para>
+        /// </summary>
+        /// <returns>... TBD ...</returns>
+        public byte? RedReading()
+        {
+            return ReadByteFromAddress(0x43);
+        }
+
+        /// <summary>
+        /// <para>Returns the current detection level for the color green.</para>
+        /// </summary>
+        /// <returns>... TBD ...</returns>
+        public byte? GreenReading()
+        {
+            return ReadByteFromAddress(0x44);
+        }
+
+        /// <summary>
+        /// <para>Returns the current detection level for the color blue.</para>
+        /// </summary>
+        /// <returns>... TBD ...</returns>
+        public byte? BlueReading()
+        {
+            return ReadByteFromAddress(0x45);
+        }
+
+        /// <summary>
+        /// <para>Returns the current sensor analog signal level for the color red.</para>
+        /// </summary>
+        /// <returns>... TBD ...</returns>
+        public UInt16? RawRedSensorReading()
+        {
+            return ReadWordFromAdress(0x46);
+        }
+
+        /// <summary>
+        /// <para>Returns the current sensor analog signal level for the color green.</para>
+        /// </summary>
+        /// <returns>... TBD ...</returns>
+        public UInt16? RawGreenSensorReading()
+        {
+            return ReadWordFromAdress(0x48);
+        }
+
+        /// <summary>
+        /// <para>Returns the current sensor analog signal level for the color blue.</para>
+        /// </summary>
+        /// <returns>... TBD ...</returns>
+        public UInt16? RawBlueSensorReading()
+        {
+            return ReadWordFromAdress(0x4A);
+        }
+
+        /// <summary>
+        /// <para>Returns a single 6 bit number color index. Bits 5 and 4 encode the red signal level, bits 3 and 2 encode the green signal level and bits 1 and 0 encode the blue signal levels.</para>
+        /// </summary>
+        /// <returns>... TBD ...</returns>
+        public byte? ColorIndexNumber()
+        {
+            return ReadByteFromAddress(0x4C);
+        }
+
+        /// <summary>
+        /// <para>Return the current relative level for the red color component.</para>
+        /// </summary>
+        /// <remarks>The normalization sets the highest value of the three red, green and blue reading to 255 and adjusts the other two proportionately.</remarks>
+        /// <returns>... TBD ...</returns>
+        public byte? NormalizedRedReading()
+        {
+            return ReadByteFromAddress(0x4D);
+        }
+
+        /// <summary>
+        /// <para>Return the current relative level for the green color component.</para>
+        /// </summary>
+        /// <remarks>The normalization sets the highest value of the three red, green and blue reading to 255 and adjusts the other two proportionately.</remarks>
+        /// <returns>... TBD ...</returns>
+        public byte? NormalizedGreenReading()
+        {
+            return ReadByteFromAddress(0x4E);
+        }
+
+        /// <summary>
+        /// <para>Return the current relative level for the blue color component.</para>
+        /// </summary>
+        /// <remarks>The normalization sets the highest value of the three red, green and blue reading to 255 and adjusts the other two proportionately.</remarks>
+        /// <returns>... TBD ...</returns>
+        public byte? NormalizedBlueReading()
+        {
+            return ReadByteFromAddress(0x4F);
+        }
+
+        #endregion
+
+        #region NXT-G like events & NxtPollable overrides
+        #endregion
+    }
+}