void AddScribblerRobot(Vector3 position)
{
ScribblerRobot robotBaseEntity = CreateScribblerMotorBase(ref position);
// Create bumper array entity and start simulated bumper service
//BumperArrayEntity bumperArray = CreateLegoNxtBumper();
// insert as child of motor base
//robotBaseEntity.InsertEntity(bumperArray);
// Finaly insert the motor base and its two children
// to the simulation
SimulationEngine.GlobalInstancePort.Insert(robotBaseEntity);
}
private ScribblerRobot CreateScribblerMotorBase(ref Vector3 position)
{
// use supplied entity that creates a motor base
// with 2 active wheels and one caster
ScribblerRobot robotBaseEntity = new ScribblerRobot(position);
// specify mesh.
robotBaseEntity.State.Assets.Mesh = "Scribbler.bos";
// the name below must match manifest
robotBaseEntity.State.Name = "ScribblerRobot"; //"\ScribblerRobot";
// Start simulated motor service
//drive.Contract.CreateService(ConstructorPort,
// Microsoft.Robotics.Simulation.Partners.CreateEntityPartner(
// "http://localhost/" + robotBaseEntity.State.Name)
//);
return(robotBaseEntity);
}
void AddScribblerRobot(Vector3 position)
{
ScribblerRobot robotBaseEntity = CreateScribblerMotorBase(ref position);
// Create bumper array entity and start simulated bumper service
BumperArrayEntity bumperArray = CreateBumperArray();
// insert as child of motor base
robotBaseEntity.InsertEntity(bumperArray);
// create Camera Entity ans start SimulatedWebcam service
CameraEntity camera = CreateCamera();
// insert as child of motor base
robotBaseEntity.InsertEntity(camera);
// Finaly insert the motor base and its two children
// to the simulation
SimulationEngine.GlobalInstancePort.Insert(robotBaseEntity);
}
