public void keyDown(MotorName motorName, KeyType keyType)
{
Motor motor = this.parseMotor(motorName);
char cmd = '1';
switch (keyType)
{
case KeyType.ANTIHORARIA:
if (motor.getEstado() != Estado.ANTIHORARIO)
{
cmd = motor.getAntiHCmd();
motor.setEstado(Estado.ANTIHORARIO);
this.interfaz.serialPortWrite(cmd);
this.cmdsPress.Add(cmd);
}
break;
case KeyType.HORARIA:
if (motor.getEstado() != Estado.HORARIO)
{
cmd = motor.getHoraCmd();
motor.setEstado(Estado.HORARIO);
this.interfaz.serialPortWrite(cmd);
this.cmdsPress.Add(cmd);
}
break;
}
}
internal void velUpdate(MotorName motorName, decimal value)
{
if (armState == ArmState.CONFIGURACION)
{
switch (motorName)
{
case MotorName.BASE:
this.interfaz.serialPortWrite((char)0);
break;
case MotorName.HOMBRO:
this.interfaz.serialPortWrite((char)1);
break;
case MotorName.CODO:
this.interfaz.serialPortWrite((char)2);
break;
case MotorName.MUNIECA:
this.interfaz.serialPortWrite((char)3);
break;
}
this.interfaz.serialPortWrite((char)value);
}
}
private void nud_ValueChanged(MotorName motorName, NumericUpDown nudVelocidad)
{
if (nudVelocidad.Value > nudVelocidad.Maximum)
{
nudVelocidad.Value = nudVelocidad.Maximum;
}
else if (nudVelocidad.Value < nudVelocidad.Minimum)
{
nudVelocidad.Value = nudVelocidad.Minimum;
}
this.roboticArmModel.velUpdate(motorName, nudVelocidad.Value);
}
private Motor parseMotor(MotorName motorName)
{
switch (motorName)
{
case MotorName.BASE:
return(this.Base);
case MotorName.HOMBRO:
return(this.Hombro);
case MotorName.CODO:
return(this.Codo);
case MotorName.MUNIECA:
return(this.Muñeca);
default:
return(new Motor('2', '3', '4')); //error
}
}
public static void RoveArmStatusUpdater(MotorName motorName, HandMovement handMovement)
{
try
{
RoverConsole.ArcEyeAiContent("Uploading Rover Arm Command : Motor Name-" + motorName.ToString() + ", Hand Movement-" + handMovement.ToString());
pi1Port2SwSender.AutoFlush = true;
pi1Port2SwSender.Write(Convert.ToString(Convert.ToInt32(motorName)) + "," + Convert.ToInt32(handMovement));
RoverConsole.ArcEyeAiContent("Command Uploaded to Pi1 via port2");
if (ConnectorOne.pi1Port2ConnectedStatusEvent != null)
{
ConnectorOne.pi1Port2ConnectedStatusEvent(new object(), new EventArgs());
}
}
catch (Exception ex)
{
RoverConsole.ArcEyeAiContentThreadSafe(ex.ToString());
RoverConsole.ArcEyeAiContentThreadSafe("Trying To Reconnect");
if (ConnectorOne.pi1Port2DisconnectedStatusEvent != null)
{
ConnectorOne.pi1Port2DisconnectedStatusEvent(new object(), new EventArgs());
}
}
}
public void keyUp(MotorName motorName, KeyType keyType)
{
Motor motor = this.parseMotor(motorName);
char cmd = '1';
switch (keyType)
{
case KeyType.ANTIHORARIA:
cmdsPress.Remove(motor.getAntiHCmd());
if (this.cmdsPress.Contains(motor.getHoraCmd()))
{
cmd = motor.getHoraCmd();
motor.setEstado(Estado.HORARIO);
}
else
{
cmd = motor.getStopCmd();
motor.setEstado(Estado.DETENIDO);
}
break;
case KeyType.HORARIA:
cmdsPress.Remove(motor.getHoraCmd());
if (this.cmdsPress.Contains(motor.getAntiHCmd()))
{
cmd = motor.getAntiHCmd();
motor.setEstado(Estado.ANTIHORARIO);
}
else
{
cmd = motor.getStopCmd();
motor.setEstado(Estado.DETENIDO);
}
break;
}
this.interfaz.serialPortWrite(cmd);
}
