Sense HAT is an add-on board for Raspberry Pi.
static void Main(string[] args)
{
using (var sh = new SenseHat())
{
int n = 0;
int x = 3, y = 3;
while (true)
{
Console.Clear();
(int dx, int dy, bool holding) = JoystickState(sh);
if (holding)
n++;
x = (x + 8 + dx) % 8;
y = (y + 8 + dy) % 8;
sh.Fill(n % 2 == 0 ? Color.DarkBlue : Color.DarkRed);
sh.SetPixel(x, y, Color.Yellow);
Console.WriteLine($"Temperature: Sensor1: {sh.Temperature.DegreesCelsius} °C Sensor2: {sh.Temperature2.DegreesCelsius} °C");
Console.WriteLine($"Humidity: {sh.Humidity} %rH");
Console.WriteLine($"Pressure: {sh.Pressure} hPa");
Console.WriteLine($"Acceleration: {sh.Acceleration} g");
Console.WriteLine($"Angular rate: {sh.AngularRate} DPS");
Console.WriteLine($"Magnetic induction: {sh.MagneticInduction} gauss");
Thread.Sleep(1000);
}
}
}
static (int, int, bool) JoystickState(SenseHat sh)
{
sh.ReadJoystickState();
int dx = 0;
int dy = 0;
if (sh.HoldingUp)
dy--; // y goes down
if (sh.HoldingDown)
dy++;
if (sh.HoldingLeft)
dx--;
if (sh.HoldingRight)
dx++;
return (dx, dy, sh.HoldingButton);
}using (var ledMatrix = new SenseHatLedMatrixI2c())
{
ledMatrix.Fill(Color.Purple);
ledMatrix.SetPixel(0, 0, Color.Red);
ledMatrix.SetPixel(1, 0, Color.Green);
ledMatrix.SetPixel(2, 0, Color.Blue);
for (int i = 1; i <= 7; i++)
{
ledMatrix.SetPixel(i, i, Color.White);
}
}Please see sample for more advanced example (also includes above).
There are currently two implementations of SenseHatLedMatrix:
- SenseHatLedMatrixSysFs - uses native driver - requires installing a driver but colors look (arguably) more vivid (also a bit faster).
- SenseHatLedMatrixI2c - does not require any drivers - allows using brighter colors but colors are more pale by default.
Both implementations implement SenseHatLedMatrix abstraction which should be used in the code.
using (var j = new SenseHatJoystick())
{
while (true)
{
j.Read();
Console.Clear();
if (j.HoldingUp)
Console.Write("U");
if (j.HoldingDown)
Console.Write("D");
if (j.HoldingLeft)
Console.Write("L");
if (j.HoldingRight)
Console.Write("R");
if (j.HoldingButton)
Console.Write("!");
}
}using (var ag = new SenseHatAccelerometerAndGyroscope())
{
while (true)
{
Console.WriteLine($"Acceleration={ag.Acceleration}");
Console.WriteLine($"AngularRate={ag.AngularRate}");
Thread.Sleep(100);
}
}using (var magnetometer = new SenseHatMagnetometer())
using (var ledMatrix = new SenseHatLedMatrixI2c())
{
Console.WriteLine("Move SenseHat around in every direction until dot on the LED matrix stabilizes when not moving.");
ledMatrix.Fill();
Stopwatch sw = Stopwatch.StartNew();
Vector3 min = magnetometer.MagneticInduction;
Vector3 max = magnetometer.MagneticInduction;
while (min == max)
{
Vector3 sample = magnetometer.MagneticInduction;
min = Vector3.Min(min, sample);
max = Vector3.Max(max, sample);
Thread.Sleep(50);
}
const int intervals = 8;
Color[] data = new Color[64];
while (true)
{
Vector3 sample = magnetometer.MagneticInduction;
min = Vector3.Min(min, sample);
max = Vector3.Max(max, sample);
Vector3 size = max - min;
Vector3 pos = Vector3.Divide(Vector3.Multiply((sample - min), intervals - 1), size);
int x = Math.Clamp((int)pos.X, 0, intervals - 1);
// reverse y to match magnetometer coordinate system
int y = intervals - 1 - Math.Clamp((int)pos.Y, 0, intervals - 1);
int idx = SenseHatLedMatrix.PositionToIndex(x, y);
// fading
for (int i = 0; i < 64; i++)
{
data[i] = Color.FromArgb((byte)Math.Clamp(data[i].R - 1, 0, 255), data[i].G, data[i].B);;
}
Color col = data[idx];
col = Color.FromArgb(Math.Clamp(col.R + 20, 0, 255), col.G, col.B);
Vector2 pos2 = new Vector2(sample.X, sample.Y);
Vector2 center2 = Vector2.Multiply(new Vector2(min.X + max.X, min.Y + max.Y), 0.5f);
float max2 = Math.Max(size.X, size.Y);
float distFromCenter = (pos2 - center2).Length();
data[idx] = Color.FromArgb(0, 255, (byte)Math.Clamp(255 * distFromCenter / max2, 0, 255));
ledMatrix.Write(data);
data[idx] = col;
Thread.Sleep(50);
}
}using (var th = new SenseHatTemperatureAndHumidity())
{
while (true)
{
var tempValue = th.Temperature;
var humValue = th.Humidity;
Console.WriteLine($"Temperature: {tempValue.Celsius:0.#}\u00B0C");
Console.WriteLine($"Relative humidity: {humValue:0.#}%");
// WeatherHelper supports more calculations, such as saturated vapor pressure, actual vapor pressure and absolute humidity.
Console.WriteLine($"Heat index: {WeatherHelper.CalculateHeatIndex(tempValue, humValue).Celsius:0.#}\u00B0C");
Console.WriteLine($"Dew point: {WeatherHelper.CalculateDewPoint(tempValue, humValue).Celsius:0.#}\u00B0C");
Thread.Sleep(1000);
}
}using (var pt = new SenseHatPressureAndTemperature())
{
// set this to the current sea level pressure in the area for correct altitude readings
var defaultSeaLevelPressure = Pressure.MeanSeaLevel;
using (var pt = new SenseHatPressureAndTemperature())
{
while (true)
{
var tempValue = pt.Temperature;
var preValue = pt.Pressure;
var altValue = WeatherHelper.CalculateAltitude(preValue, defaultSeaLevelPressure, tempValue);
Console.WriteLine($"Temperature: {tempValue.Celsius:0.#}\u00B0C");
Console.WriteLine($"Pressure: {preValue.Hectopascal:0.##}hPa");
Console.WriteLine($"Altitude: {altValue:0.##}m");
Thread.Sleep(1000);
}
}
}Note: There are more than 1 temperature sensors on SenseHat board
When using SysFs implementation please make sure to enable Sense HAT in /boot/firmware/config.txt before using by adding following line:
Note
Prior to Bookworm, Raspberry Pi OS stored the boot partition at /boot/. Since Bookworm, the boot partition is located at /boot/firmware/. Adjust the previous line to be sudo nano /boot/firmware/config.txt if you have an older OS version.
dtoverlay=rpi-sense
This is not required when using I2c implementation. See more details in the samples about the differences.