private void button1_Click(object sender, EventArgs e)
{
robot.ReadLaserValues();
Console.WriteLine("Robot: {0} {1}", robot.Center.x, robot.Center.y);
Console.WriteLine("Robot: {0} {1} {2} {3}", robot.LL, robot.LF, robot.RF, robot.RR);
CreatePathForm createPathForm = new CreatePathForm();
createPathForm.FormClosing += (o, form) =>
{
var src = new Point(Int32.Parse(createPathForm.srcXTextBox.Text), Int32.Parse(createPathForm.srcYTextBox.Text));
LocationApproximator locationApproximator = new LocationApproximator();
locationApproximator.SetUp(map);
Point loc = locationApproximator.GetLocation((int)(src.x - R / 2), (int)(src.y - R / 2), R, R, 2, robot.LL, robot.LF, robot.RR, robot.RF);
robot.Center = loc;
Console.WriteLine("Robot: {0} {1}", robot.Center.x, robot.Center.y);
Console.WriteLine("Robot: {0} {1} {2} {3}", robot.LL, robot.LF, robot.RF, robot.RR);
Render();
};
createPathForm.Show();
Render();
}
private void navigateBtn_Click(object sender, EventArgs e)
{
CreatePathForm createPathForm = new CreatePathForm();
createPathForm.map = map;
createPathForm.FormClosing += (o, form) =>
{
route = new RoutePlanner(robot, map);
var src = new Point(Int32.Parse(createPathForm.srcXTextBox.Text), Int32.Parse(createPathForm.srcYTextBox.Text));
var dest = new Point(Int32.Parse(createPathForm.dstXtextBox.Text), Int32.Parse(createPathForm.dstYTextBox.Text));
route.Start(src, dest);
Timer1.Enabled = true;
};
createPathForm.Show();
}
private void bntBtn_Click(object sender, EventArgs e)
{
/// robot.ReadLaserValues();
// robot.Rotate(90);
// return;
//Console.WriteLine("Robot: {0} {1}", robot.Center.x, robot.Center.y);
//Console.WriteLine("Robot: {0} {1} {2} {3}", robot.LL, robot.LF, robot.RF, robot.RR);
CreatePathForm createPathForm = new CreatePathForm();
createPathForm.FormClosing += (o, form) =>
{
var src = new Point(Int32.Parse(createPathForm.srcXTextBox.Text), Int32.Parse(createPathForm.srcYTextBox.Text));
// LocationApproximator locationApproximator = new LocationApproximator();
// locationApproximator.SetUp(map);
// Point loc = locationApproximator.GetLocation((int)(src.x - R / 2), (int)(src.y - R / 2), R, R, 2, robot.LL, robot.LF, robot.RR, robot.RF);
// robot.Center = loc;
Console.WriteLine("Robot: {0} {1}", robot.Center.x, robot.Center.y);
Console.WriteLine("Robot: {0} {1} {2} {3}", robot.LL, robot.LF, robot.RF, robot.RR);
bnt = new BNT(map, robot);
List <String> names = new List <string>(createPathForm.dstXtextBox.Text.Split(' '));
List <String> oo = new List <string>(createPathForm.dstYTextBox.Text.Split(' '));
List <Orientation> orientations = oo.ConvertAll(input =>
{
Orientation orientation;
Enum.TryParse <Orientation>(input, out orientation);
return(orientation);
});
// bnt.TEST(src, names, orientations);
bnt.Start(src, names, orientations);
Timer1.Enabled = true;
Render();
};
createPathForm.Show();
Render();
}
