private async void ConnectBot()
{
//connectStatus.Text = "CONNECTING";
_ezb = new EZB();
await _ezb.Connect("192.168.1.1");
if (!_ezb.IsConnected)
{
connectStatus.Text = "NOT CONNECTED!";
return;
}
if (_ezb.IsConnected)
{
_timer.Start();
connectStatus.Text = "CONNECTED!";
_video = new EZBv4Video();
_video.OnImageDataReady += Video_OnImageDataReady;
errorStatus.Text = _ezb.GetLastErrorMsg;
await _video.Start(_ezb, _ezb.ConnectedEndPointAddress, 24);
_video.CameraSetting(EZBv4Video.CameraSettingsEnum.Res160x120); // 640X480
_video.CameraSetting(EZBv4Video.CameraSettingsEnum.MirrorDisable);
if (_video.IsRunning)
{
cameraStatus.Text = "CAMERA STREAMING!";
}
else
{
cameraStatus.Text = "CAMERA NOT STREAMING!";
}
/*
* Update button availability
*/
connectButton.IsEnabled = false;
forward_btn.IsEnabled = true;
right_btn.IsEnabled = true;
left_btn.IsEnabled = true;
reverse_btn.IsEnabled = true;
stop_btn.IsEnabled = true;
neck_slider.IsEnabled = true;
neck_nod.IsEnabled = true;
/*
* Movement code init
*/
_ezb.Movement.MovementType = EZ_B.Movement.MovementTypeEnum.HBridgePWM;
_ezb.Movement.HBridgeLeftWheelTriggerA = EZ_B.Digital.DigitalPortEnum.D1;
_ezb.Movement.HBridgeLeftWheelTriggerB = EZ_B.Digital.DigitalPortEnum.D2;
_ezb.Movement.HBridgeRightWheelTriggerA = EZ_B.Digital.DigitalPortEnum.D3;
_ezb.Movement.HBridgeRightWheelTriggerB = EZ_B.Digital.DigitalPortEnum.D4;
_ezb.Movement.HBridgeLeftWheelPWM = EZ_B.Digital.DigitalPortEnum.D0;
_ezb.Movement.HBridgeRightWheelPWM = EZ_B.Digital.DigitalPortEnum.D5;
_ezb.Movement.SetSpeed(255);
/*
* Servo init code
*/
await _ezb.Servo.ResetAllServoSpeeds(); // must reset speed to initialize
int servo_speed = 128;
//left shoulder
await _ezb.Servo.SetServoPosition(EZ_B.Servo.ServoPortEnum.D15, EZ_B.Servo.SERVO_CENTER, servo_speed);
//right shoulder
await _ezb.Servo.SetServoPosition(EZ_B.Servo.ServoPortEnum.D19, EZ_B.Servo.SERVO_CENTER, servo_speed);
//left elbow
await _ezb.Servo.SetServoPosition(EZ_B.Servo.ServoPortEnum.D14, EZ_B.Servo.SERVO_CENTER, servo_speed);
//right elbow
await _ezb.Servo.SetServoPosition(EZ_B.Servo.ServoPortEnum.D18, EZ_B.Servo.SERVO_CENTER, servo_speed);
//left wrist
await _ezb.Servo.SetServoPosition(EZ_B.Servo.ServoPortEnum.D13, EZ_B.Servo.SERVO_CENTER, servo_speed);
//right wrist
await _ezb.Servo.SetServoPosition(EZ_B.Servo.ServoPortEnum.D17, EZ_B.Servo.SERVO_CENTER, servo_speed);
//left claw
await _ezb.Servo.SetServoPosition(EZ_B.Servo.ServoPortEnum.D12, EZ_B.Servo.SERVO_CENTER, servo_speed);
//right claw
await _ezb.Servo.SetServoPosition(EZ_B.Servo.ServoPortEnum.D16, EZ_B.Servo.SERVO_CENTER, servo_speed);
// neck, vertical
await _ezb.Servo.SetServoPosition(EZ_B.Servo.ServoPortEnum.D9, EZ_B.Servo.SERVO_CENTER, servo_speed);
// neck, horizontal
await _ezb.Servo.SetServoPosition(EZ_B.Servo.ServoPortEnum.D10, EZ_B.Servo.SERVO_CENTER, servo_speed);
}
}
private async void Connect_Button_Click(object sender, RoutedEventArgs e)
{
if ((Button)sender == connectButton)
{
_ezb = new EZB();
await _ezb.Connect("192.168.1.1");
if (!_ezb.IsConnected)
{
connectStatus.Text = "NOT CONNECTED!";
return;
}
if (_ezb.IsConnected)
{
_timer.Start();
connectStatus.Text = "CONNECTED!";
_video = new EZBv4Video();
_video.OnImageDataReady += Video_OnImageDataReady;
// _video.OnStart += Video_OnStart;
errorStatus.Text = _ezb.GetLastErrorMsg;
isEscape();
await _video.Start(_ezb, _ezb.ConnectedEndPointAddress, 24);
_video.CameraSetting(EZBv4Video.CameraSettingsEnum.Res640x480);
// _video.CameraSetting(EZBv4Video.CameraSettingsEnum.START);
if (_video.IsRunning)
{
cameraStatus.Text = "CAMERA STREAMING!";
}
else
{
cameraStatus.Text = "CAMERA NOT STREAMING!";
}
/*
* Movement code init
*/
_ezb.Movement.MovementType = EZ_B.Movement.MovementTypeEnum.HBridgePWM;
_ezb.Movement.HBridgeLeftWheelTriggerA = EZ_B.Digital.DigitalPortEnum.D1;
_ezb.Movement.HBridgeLeftWheelTriggerB = EZ_B.Digital.DigitalPortEnum.D2;
_ezb.Movement.HBridgeRightWheelTriggerA = EZ_B.Digital.DigitalPortEnum.D3;
_ezb.Movement.HBridgeRightWheelTriggerB = EZ_B.Digital.DigitalPortEnum.D4;
_ezb.Movement.HBridgeLeftWheelPWM = EZ_B.Digital.DigitalPortEnum.D0;
_ezb.Movement.HBridgeRightWheelPWM = EZ_B.Digital.DigitalPortEnum.D5;
_ezb.Movement.SetSpeed(255);
/*
* Servo init code
*/
await _ezb.Servo.ResetAllServoSpeeds();
// shoulders
//left
await _ezb.Servo.SetServoPosition(EZ_B.Servo.ServoPortEnum.D15, EZ_B.Servo.SERVO_CENTER, 10);
//right
await _ezb.Servo.SetServoPosition(EZ_B.Servo.ServoPortEnum.D19, EZ_B.Servo.SERVO_CENTER, 10);
// elbows
//left
await _ezb.Servo.SetServoPosition(EZ_B.Servo.ServoPortEnum.D14, EZ_B.Servo.SERVO_CENTER, 10);
//right
await _ezb.Servo.SetServoPosition(EZ_B.Servo.ServoPortEnum.D18, EZ_B.Servo.SERVO_CENTER, 10);
// wrist
//left
await _ezb.Servo.SetServoPosition(EZ_B.Servo.ServoPortEnum.D13, EZ_B.Servo.SERVO_CENTER, 10);
//right
await _ezb.Servo.SetServoPosition(EZ_B.Servo.ServoPortEnum.D17, EZ_B.Servo.SERVO_CENTER, 10);
// claw
//left
await _ezb.Servo.SetServoPosition(EZ_B.Servo.ServoPortEnum.D12, EZ_B.Servo.SERVO_CENTER, 10);
//right
await _ezb.Servo.SetServoPosition(EZ_B.Servo.ServoPortEnum.D16, EZ_B.Servo.SERVO_CENTER, 10);
// neck, vertical
await _ezb.Servo.SetServoPosition(EZ_B.Servo.ServoPortEnum.D9, EZ_B.Servo.SERVO_CENTER, 10);
// neck, horizontal
await _ezb.Servo.SetServoPosition(EZ_B.Servo.ServoPortEnum.D10, EZ_B.Servo.SERVO_CENTER, 10);
}
}
return;
}
