Extending GoPiGo v2 on Windows 10 IoT Core for Raspberry Pi 3

This project builds on the Windows 10 IoT Core application for the GoPiGo v2, developed for the Raspberry Pi 3. It extends the original C# code from Dexter Industries (GitHub: DexterInd/GoPiGo) by fixing several glitches and adding new functionality.

Hardware components

GoPiGo Robot Base Kit

Raspberry Pi 3 Model B

Software & services

The current focus is on adding a secondary module that streams the webcam feed to a client application. While real‑time streaming isn’t required, a small latency is acceptable. The UWP user interface also runs on Hololens, and future plans include a Unity‑based client.

In the Pin.cs file, the trigger and echo pins were added to the enumeration: Trigger = 15, Echo = 16.

The Led.cs file was modified to expose the LED controller by changing its access modifier from internal to public.

The UltrasonicRangerSensor.cs file was largely rewritten. The updated interface and implementation are shown below:

public interface IUltrasonicRangerSensor
{
    Task<int> MeasureInCentimeters();
}

internal class UltrasonicRangerSensor : IUltrasonicRangerSensor
{
    private const byte CommandAddress = 117;
    private readonly GoPiGo _device;
    private readonly Pin _pin;

    internal UltrasonicRangerSensor(GoPiGo device, Pin pin)
    {
        _device = device;
        _pin = pin;
    }

    public async Task<int> MeasureInCentimeters()
    {
        var buffer = new[] { CommandAddress, (byte)_pin, Constants.Unused, Constants.Unused };
        _device.DirectAccess.Write(buffer);
        await Task.Delay(5);
        _device.DirectAccess.Read(buffer);
        return buffer[1] * 256 + buffer[2];
    }
}

For further details, refer to the full project documentation.