private void Connect_btn_Click(object sender, EventArgs e)
{
// Try to connect then check connection and throw error if found
try
{
// Setup the NXT Brick
_nxt = new NxtBrick(NxtCommLinkType.Bluetooth, Convert.ToByte(Port_txt.Text))
{
MotorA = _ar, MotorC = _cr
};
_nxt.Connect();
if (_nxt.IsConnected)
{
_defaultEngine.RecognizeAsync(RecognizeMode.Multiple);
Connected_lbl.Visible = true;
Port_txt.BackColor = Color.Green;
Connect_btn.Enabled = false;
Battery_checker.Enabled = true;
}
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
Connected_lbl.Visible = false;
Port_txt.BackColor = Color.Red;
// Writes the Exception to the Log
WriteToLog(ex.Message);
}
}
public Motor(INxtBrick nxtBrick, NxtBrick.Motor motor)
{
Brick = nxtBrick;
MotorPort = motor;
RegulationMode = NxtBrick.MotorRegulationMode.Idle;
}
static void SetupBluetoothConnection()
{
Console.WriteLine("\n\nEnter your Bluetooth COM-Port (Default: 40)");
byte comport = Convert.ToByte(Console.ReadLine());
brick = new NxtBrick(NxtCommLinkType.Bluetooth, comport);
Console.WriteLine("\nBluetooth connection set up at port " + comport + ".");
}
internal async Task Attach(NxtBrick brick, SensorPort port)
{
await Task.Run(() =>
{
this.SensorPort = port;
this.brick = brick;
});
}
private void Execute(NxtBrick.MotorState state)
{
// parellelize this slow command
Task.Factory.StartNew(() =>
{
Brick.SetMotorState(MotorPort, state);
Debug.WriteLine("Motor on Port " + MotorPort.ToString() + ": " + state.Power + "%");
});
}
public RobotEngine()
{
_brick = new NxtBrick(NxtCommLinkType.Bluetooth, Config.SerialPortNo)
{
MotorA = new NxtMotor(),
MotorB = new NxtMotor(),
MotorC = new NxtMotor()
};
_motorSync = new NxtMotorSync(_brick.MotorA, _brick.MotorB);
}
public Robot()
{
m_brick = new NxtBrick(NxtCommLinkType.Bluetooth, 3);
m_leftMotor = new NxtMotor();
m_rightMotor = new NxtMotor();
m_brick.MotorB = m_leftMotor;
m_brick.MotorC = m_rightMotor;
m_motors = new NxtMotorSync(m_leftMotor, m_rightMotor);
}
static void Main()
{
Init();
brick = new NxtBrick(NxtCommLinkType.USB, 0);
//brick = new NxtBrick(NxtCommLinkType.Bluetooth, 40);
var sound = new NxtSoundSensor();
var touch = new NxtTouchSensor();
var sonar = new NxtUltrasonicSensor();
brick.MotorA = new NxtMotor();
brick.MotorC = new NxtMotor();
motorPair = new NxtMotorSync(brick.MotorA, brick.MotorC);
brick.Sensor1 = sonar;
brick.Sensor3 = touch;
brick.Sensor4 = sound;
sound.PollInterval = 50;
sound.OnPolled += sound_OnPolled;
sonar.PollInterval = 50;
sonar.ThresholdDistanceCm = 25;
sonar.OnPolled += sonar_OnPolled;
sonar.OnWithinThresholdDistanceCm += OnWithinThreshold;
sonar.ContinuousMeasurementCommand();
touch.PollInterval = 50;
touch.OnPressed += OnCollision;
brick.Connect();
motorPair.Run(75, 0, 0);
Console.WriteLine("Press any key to stop.");
Console.ReadKey();
brick.Disconnect();
}
static void SetupUSBConnection()
{
brick = new NxtBrick(NxtCommLinkType.USB, 0);
Console.WriteLine("\nUSB connection set up.");
}
internal CommandsBase(NxtBrick brick)
{
this.brick = brick;
}
internal SystemCommands(NxtBrick brick) :
base(brick)
{
}
internal ConnectionCommands(NxtBrick brick) :
base(brick)
{
}
internal DirectCommands(NxtBrick brick) :
base(brick)
{
}
//Brick connection procedure logic
private void button_connect_Click(object sender, EventArgs e)
{
if (!isConnectedToBrick)
{
byte COMport = byte.Parse(COMportInput.Text);
if (RB_McRXE.Checked)
{
//Create Motor Control NXT Brick and Bluetooth use USB to communicate with it.
if (RB_Bluetooth.Checked)
{
McBrick = new McNxtBrick(NxtCommLinkType.Bluetooth, COMport);
}
//Create Motor Control NXT Brick, and use USB to communicate with it.
if (RB_USB.Checked)
{
brick = new McNxtBrick(NxtCommLinkType.USB, COMport);
}
// Create a Motor Control motor.
McMotorA = new McNxtMotor();
McMotorB = new McNxtMotor();
McMotorC = new McNxtMotor();
//Synched motors
McMotorPair = new McNxtMotorSync(McMotorB, McMotorC);
// Attach it to port A of the NXT brick.
McBrick.MotorA = McMotorA;
McBrick.MotorB = McMotorB;
McBrick.MotorC = McMotorC;
// Connect to the NXT.
McBrick.Connect();
if (!McBrick.IsMotorControlRunning())
{
McBrick.StartMotorControl();
}
motorControlActive = true;
}
else
{
//Create NXT Brick and Bluetooth use USB to communicate with it.
if (RB_Bluetooth.Checked)
{
NxtBrick brick = new NxtBrick(NxtCommLinkType.Bluetooth, COMport);
}
// Create a NXT brick, and use USB to communicate with it.
if (RB_USB.Checked)
{
NxtBrick brick = new NxtBrick(NxtCommLinkType.USB, COMport);
}
// Create a motor.
motorA = new NxtMotor();
motorB = new NxtMotor();
motorC = new NxtMotor();
// Attach it to port A of the NXT brick.
brick.MotorA = motorA;
brick.MotorB = motorB;
brick.MotorC = motorC;
// Connect to the NXT.
brick.Connect();
}
ConnectedText.Visible = true;
isConnectedToBrick = true;
}
}
