example.fs

module Program

open System
open System.Collections.Generic
open System.Reactive.Linq
open Trik

let log s = printfn "%s" s
type Distance =  Far | Middle | Near


let rawToDist x = match x with 
                  | _ when x > 80 -> Near
                  | _ when x > 30 -> Middle
                  | _ -> Far

let distToSpeed x = match x with
                  | Near -> -100
                  | Middle -> 0
                  | Far -> 100

[<EntryPoint>]
let main _ = 
    log "Started"
    Helpers.I2C.init "/dev/i2c-2" 0x48 1
    let model = new Model()
    log "Loaded"
    use rightWheel = model.Motor.["JM1"]
    use leftWheel = model.Motor.["JM2"]
    let frontSensor = model.AnalogSensor.["JA1"].ToObservable().Select(rawToDist)
    let motorActions = frontSensor.Select(distToSpeed).DistinctUntilChanged()

    use r_disp = motorActions.Subscribe(rightWheel)
    use l_disp = motorActions.Subscribe(leftWheel)
    log "Ready (any key to finish)"
   
    System.Console.ReadKey() |> ignore
    0