void MainFormLoad(object sender, System.EventArgs e)
{
FindAvailableSerialPorts();
MakeThrusterGraphs();
#region Servo init
servo1 = new AdvancedServo();
servo1.Attach += new AttachEventHandler(servo1_Attach);
try{
servo1.open();
}
catch (PhidgetException pe)
{
MessageBox.Show(pe.ToString());
}
#endregion
//InitDirectInput();
cameraAngle1.MaxAngle = camMaxAngle;
cameraAngle1.MinAngle = camMinAngle;
cameraAngle1.FlipGraph = true;
errorCheck.Enabled = true;
joystickDetectionTimer.Enabled = true;
timer1.Enabled = true;
if (serialPort1.IsOpen)
{
serialPort1.Close();
}
LoadSettings();
}
public void Attach()
{
if (_serialNumber > 0 && _servoBoard == null)
{
_servoBoard = new AdvancedServo();
_servoBoard.Attach += new AttachEventHandler(ServoBoard_Attach);
_servoBoard.open(_serialNumber);
}
}
/// <summary>
/// Trys to initialize the controller. Returns an exception (no throw). Ensure
/// you are registered to the PanTiltReady event prior to calling
/// </summary>
/// <returns></returns>
public PanTiltControllerException TryInitialize()
{
try
{
m_ServoController.open();
}
catch (PhidgetException e)
{
return(new PanTiltControllerException("Could not open connection to servo controller. Chec driver installation. Is it attached?", e));
}
return(null);
}
/// <summary>
/// Initialises a configuration form
/// TODO - refactor
/// </summary>
public ConfigurationForm(ref List<Phidget> devicesToBeConfigured, String windowName)
{
Helper.Logger("HaptiQ_API.ConfigurationForm.ConfigurationForm::Configuration Form started");
InitializeComponent();
this.TopMost = true;
this._devicesToBeConfigured = devicesToBeConfigured;
this._windowName = windowName;
_actuatorsValues = new Tuple<int, int>[MAX_NUMBER_ACTUATORS];
// Initialise combo boxes - XXX move to separate method
var servoBoards = new List<int>();
var intfKits = new List<int>();
intfKits.Add(0); // no intfKit board
foreach (Phidget phidget in devicesToBeConfigured)
{
if (phidget.GetType() == typeof(AdvancedServo))
{
servoBoards.Add(phidget.SerialNumber);
}
else if (phidget.GetType() == typeof(InterfaceKit))
{
intfKits.Add(phidget.SerialNumber);
}
}
ServoBoardsComboBox.DataSource = servoBoards;
InterfaceKitsComboBox.DataSource = intfKits;
ServoBoardsComboBox.DropDownStyle = ComboBoxStyle.DropDownList;
InterfaceKitsComboBox.DropDownStyle = ComboBoxStyle.DropDownList;
ServoBoardsComboBox.SelectedValueChanged += new EventHandler(ServoBoardsComboBox_SelectedValueChanged);
_currentAdvancedServoBoard = new AdvancedServo();
_currentAdvancedServoBoard.open((int)ServoBoardsComboBox.SelectedItem);
_currentAdvancedServoBoard.waitForAttachment();
InterfaceKitsComboBox.SelectedValueChanged += new EventHandler(InterfaceKitsComboBox_SelectedValueChanged);
var inputIdentifiers = new List<String>();
inputIdentifiers.Add("Tag");
inputIdentifiers.Add("Glyph");
InputIdentifiersComboBox.DataSource = inputIdentifiers;
InputIdentifiersComboBox.DropDownStyle = ComboBoxStyle.DropDownList;
this.TopMost = false;
}
static void Main(string[] args)
{
//Declare an Advanced Servo object
AdvancedServo advServo = new AdvancedServo();
//Hook the basic event handlers
advServo.Attach += new AttachEventHandler(advServo_Attach);
advServo.Detach += new DetachEventHandler(advServo_Detach);
advServo.Error += new ErrorEventHandler(advServo_Error);
//hook the phidget specific event handlers
//I decided to leave out the current change event handler for readability.
advServo.PositionChange += new PositionChangeEventHandler
(advServo_PositionChange);
advServo.VelocityChange += new VelocityChangeEventHandler
(advServo_VelocityChange);
//open the Servo object for device connections
advServo.open();
//Get the program to wait for an Advanced Servo to be attached
Console.WriteLine("Waiting for Advanced Servo to be attached...");
advServo.waitForAttachment();
//Set the initial position for the servo motor. I set it to 15 here just
//since I am going to cycle through the positive values to show a basic
//full movement
if (advServo.Attached)
{
advServo.servos[0].Acceleration = 1000.00; //max 4590, min 0
advServo.servos[0].VelocityLimit = 1000.00; //max 1500, min 0
advServo.servos[0].Position = 30.00; //range is -23 to 232
}
//Wait for the motor to finish getting to position and let user continue
Console.WriteLine("Press any key to continue...");
Console.Read();
//Move the motor from position value 30 to 200, we sleep for 500
//milliseconds to give the motor enough time to move to the set position
if (advServo.Attached)
{
advServo.servos[0].Position = 200; //range is -23 to 232
Thread.Sleep(500);
}
//Wait for the events to fire and display, user input will continue the
//program
Console.WriteLine("Press any key to end...");
Console.Read();
//user input was read so we can terminate the program now, close the
//AdvancedServo object. Left out the current change event handler for
//readability.
advServo.PositionChange -= new PositionChangeEventHandler
(advServo_PositionChange);
advServo.VelocityChange -= new VelocityChangeEventHandler
(advServo_VelocityChange);
//user input was read so we can terminate the program now, close the
//AdvancedServo object
advServo.close();
//set the object to null to get it out of memory
advServo = null;
Console.WriteLine("ok");
}
void MainFormLoad(object sender, System.EventArgs e)
{
FindAvailableSerialPorts();
MakeThrusterGraphs();
#region Servo init
servo1 = new AdvancedServo();
servo1.Attach += new AttachEventHandler(servo1_Attach);
try{
servo1.open();
}
catch (PhidgetException pe)
{
MessageBox.Show(pe.ToString());
}
#endregion
//InitDirectInput();
cameraAngle1.MaxAngle = camMaxAngle;
cameraAngle1.MinAngle = camMinAngle;
cameraAngle1.FlipGraph = true;
errorCheck.Enabled = true;
joystickDetectionTimer.Enabled = true;
timer1.Enabled = true;
if(serialPort1.IsOpen){serialPort1.Close();}
LoadSettings();
}
private void initialiseServoBoard()
{
//Declare an Advanced Servo object
_advServo = new AdvancedServo();
//Hook the basic event handlers
_advServo.Attach += new AttachEventHandler(advServo_Attach);
_advServo.Detach += new DetachEventHandler(advServo_Detach);
_advServo.Error += new ErrorEventHandler(advServo_Error);
_advServo.PositionChange += new PositionChangeEventHandler(advServo_PositionChange);
_advServo.open(configuration.idServoBoard);
Helper.Logger("HaptiQ_API.HaptiQ.HaptiQ::Waiting for HaptiQ (" + _id + ") ServoBoard(" + configuration.idServoBoard + ") to be attached.");
_advServo.waitForAttachment();
Helper.Logger("HaptiQ_API.HaptiQ.HaptiQ::HaptiQ (" + _id + ") ServoBoard(" + configuration.idServoBoard + ") Connected");
setAllActuatorsToMinPosition();
}
