public void TestOfControl()
{
RangerControlRobot rangerControlRobot = new RangerControlRobot("COM13");
rangerControlRobot.connect();
rangerControlRobot.setCommand(ControlStates.TRACKS_FORWARD);
Thread.Sleep(1000);
rangerControlRobot.setCommand(ControlStates.TRACK_TURN_LEFT);
Thread.Sleep(3000);
rangerControlRobot.setCommand(ControlStates.TRACK_TURN_RIGHT);
Thread.Sleep(3000);
rangerControlRobot.setCommand(ControlStates.TRACKS_STOP);
Thread.Sleep(1000);
rangerControlRobot.setCommand(ControlStates.TRACKS_BACKWARD);
Thread.Sleep(1000);
rangerControlRobot.setCommand(ControlStates.TRACKS_STOP);
Thread.Sleep(1000);
rangerControlRobot.setCommand(ControlStates.ARM_UP);
Thread.Sleep(5000);
rangerControlRobot.setCommand(ControlStates.ARM_STOP);
Thread.Sleep(1000);
rangerControlRobot.setCommand(ControlStates.ARM_DOWN);
Thread.Sleep(2000);
rangerControlRobot.setCommand(ControlStates.ARM_STOP);
Thread.Sleep(1000);
rangerControlRobot.setCommand(ControlStates.GRIPPER_CLOSE);
Thread.Sleep(2000);
rangerControlRobot.setCommand(ControlStates.GRIPPER_OPEN);
Thread.Sleep(2000);
rangerControlRobot.setCommand(ControlStates.ALL_STOP);
rangerControlRobot.disconnect();
}
private void Window_Loaded(object sender, RoutedEventArgs e)
{
try
{
this.config.getConfig();
this.cameraBoundary = new CameraBoundary(this, this.config.IpCamera);
this.rangerControlRobot = new RangerControlRobot(this.config.RangerControlPortName);
this.cameraBoundary.start();
this.rangerControlRobot.connect();
this.worker.DoWork += worker_DoWork;
this.worker.RunWorkerCompleted += worker_RunWorkerCompleted;
this.worker.RunWorkerAsync();
}
catch (Exception exc)
{
MessageBox.Show(exc.Message);
this.Close();
}
}