/// <summary>
/// Verbindet mit dem Lego Brink, nach auswählen der Verbindung
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void buttonVerbinden_Click(object sender, RoutedEventArgs e)
{
ComboBoxItem aComboBoxItem = comboBoxCommunication1.SelectedItem as ComboBoxItem;
if (aComboBoxItem.Content.ToString() == "USB")
{
UsbCommunication aUsbCommunication = new UsbCommunication();
brick = new Brick(aUsbCommunication, true);
}
else
{
BluetoothCommunication aBluetoothCommunication1 = new BluetoothCommunication(comboBoxComPort1.SelectedValue.ToString());
brick = new Brick(aBluetoothCommunication1, true);
}
// ---
try
{
aTask = brick.ConnectAsync();
lblStatusBarMessage1.Text = aTask.Status.ToString();
if (aTask.Status != TaskStatus.Faulted)
{
gridBottom1.Visibility = Visibility.Visible;
}
}
catch (Exception ex)
{
lblStatusBarMessage1.Text = "Exception: " + ex.Message;
}
}
public void ItCreatesABrick()
{
var comm = new BluetoothCommunication("COM4");
var controller = new BrickController(comm);
Assert.IsNotNull(controller.Brick);
}
public void ItCanConnect()
{
var comm = new BluetoothCommunication("COM4");
var controller = new BrickController(comm);
controller.Connect();
}
static async void MainAsync()
{
var conType = new BluetoothCommunication("COM5");
if (conType != null)
{
_brick = new Brick(conType, true);
_brick.BrickChanged += _brick_BrickChanged;
try
{
await _brick.ConnectAsync();
var output = OutputPort.A;
await _brick.DirectCommand.TurnMotorAtPowerForTimeAsync(output, 50, 0, 2000, 0, false);
Thread.Sleep(3000);
_brick.Disconnect();
}
catch (Exception ex)
{
Console.Write(ex.Message);
_brick.Disconnect();
}
}
}
public async Task ConnectAsync()
{
_ev3Comm = new BluetoothCommunication(SelectedDevice);
await _ev3Comm.ConnectAsync();
_ev3Comm.ReportReceived += BaseCommReportReceived;
}
public async Task ItCanTurnMotor()
{
var comm = new BluetoothCommunication("COM4");
var controller = new BrickController(comm);
controller.Connect();
await controller.TurnMotorAsync(OutputPort.C, 50, 1);
}
private ICommunication CreateConnection()
{
ICommunication returnType = null;
returnType = new BluetoothCommunication(DeviceId);
//returnType = new UsbCommunication();
//returnType = new NetworkCommunication(ConnControl.GetIpAddress());
return(returnType);
}
public void ItCanSendTankCommands()
{
var comm = new BluetoothCommunication("COM4");
var controller = new BrickController(comm);
Console.WriteLine("Connecting...");
controller.Connect();
controller.TankMove(50, 50, 2);
controller.TankMove(50, -50, 2);
controller.TankMove(-50, -50, 2);
}
private ICommunication CreateConnection()
{
ICommunication returnType = null;
switch (ConnControl.GetConnectionType())
{
case ConnectionType.Bluetooth:
returnType = new BluetoothCommunication();
break;
case ConnectionType.WiFi:
returnType = new NetworkCommunication(ConnControl.GetIpAddress());
break;
}
return(returnType);
}
private async void BoutonConnexion(object sender, RoutedEventArgs e)
{
String contenuCombo = mComboBoxTypeConnexion.SelectedItem.ToString();
ICommunication communication;
String mode = null;
// Trouver le mode de connexion
switch (contenuCombo)
{
case BT:
communication = new BluetoothCommunication(mTextBoxComport.Text);
mode = BT;
break;
case USB:
communication = new UsbCommunication();
mode = USB;
break;
default:
communication = null;
break;
}
// Connexion
if (communication != null)
{
GestionRobot.getInstance().brick = new Brick(communication, true);
try
{
await GestionRobot.getInstance().brick.ConnectAsync();
TextBlockStatus.Text = String.Format("Robot Lego : Connecté en : {0}", mode);
Close();
}
catch (Exception)
{
MessageBox.Show("Could not connect", "Error", MessageBoxButton.OK);
}
}
else
{
MessageBox.Show("Invalid connection type for this device", "Error", MessageBoxButton.OK);
}
}
private async void BrickComport_SelectionChanged(object sender, SelectionChangedEventArgs e)
{
var comboBox = (ComboBox)sender;
var brickIndex = Convert.ToInt32(comboBox.Tag);
if ((string)comboBox.SelectedItem == "None")
{
return;
}
comboBox.IsEnabled = false;
var connection = new BluetoothCommunication((string)comboBox.SelectedItem);
var brick = new Brick(connection);
try
{
await brick.ConnectAsync();
brick.BrickChanged += Brick_BrickChanged;
BrickManager.Bricks[brickIndex].Brick = brick;
BrickManager.Bricks[brickIndex].AimedColor = GetColors(brickIndex).ToArray();
await brick.DirectCommand.CleanUIAsync();
await brick.DirectCommand.SelectFontAsync(FontType.Large);
await brick.DirectCommand.DrawTextAsync(Color.Foreground, 0, 20, "Brick " + (brickIndex + 1));
await brick.DirectCommand.DrawTextAsync(Color.Foreground, 0, 60, GetColors(brickIndex).First().ToString());
await brick.DirectCommand.UpdateUIAsync();
brick.Ports[InputPort.One].SetMode(ColorMode.Color);
var image = GetImage(BrickManager.Bricks[brickIndex]);
image.Effect = null;
brick.BrickChanged += Brick_BrickChanged1;
MessageBox.Show("Connection Successful!");
}
catch (Exception ex)
{
MessageBox.Show("Connetion Failed!");
comboBox.IsEnabled = true;
}
}
static void Main()
{
var comm = new BluetoothCommunication("COM4");
var controller = new BrickController(comm);
Task.Run(async() =>
{
await controller.Connect();
for (var i = 0; i < 100; i++)
{
while (controller.UltrasonicRange > 10)
{
Console.WriteLine(controller.UltrasonicRange);
controller.TankMove(50, 50, 0.5);
}
controller.TankMove(50, -50, 1);
}
});
}
/// <summary>
/// Entry point.
/// </summary>
/// <param name="args">Command line args.</param>
public static void Main(string[] args)
{
Console.WriteLine("Initializing FunkinCTRL...");
ICommunication ic;
Console.WriteLine("Select communication method:\n-- For USB, press 0\n-- For Bluetooth, press 1");
switch (Console.ReadKey(true).KeyChar)
{
case '1':
// TODO: Find a better implementation.
Console.WriteLine("Enter the COM-port data.");
ic = new BluetoothCommunication(Console.ReadLine());
break;
case '0':
ic = new UsbCommunication();
break;
default:
Console.WriteLine("Unrecognized input, selecting USB communication.");
ic = new UsbCommunication();
break;
}
Console.WriteLine("Connecting to EV3 controller...");
b = new Brick(ic, true);
TimeSpan ts = new TimeSpan(TimeSpan.TicksPerSecond / RequestFrequency);
b.ConnectAsync(ts);
Thread.Sleep(2000);
b.BatchCommand.PlayTone(5, 440, 300);
b.BatchCommand.SendCommandAsync();
b.ConnectAsync(ts);
Thread.Sleep(1000);
if (b.Ports[InputPort.D].Type != DeviceType.MMotor || b.Ports[InputPort.One].Type != DeviceType.Touch || b.Ports[InputPort.Four].Type != DeviceType.Infrared)
{
Console.WriteLine("Unable to connect to controller or controller layout is incorrect.");
Console.ReadKey(true);
Environment.Exit(-1);
}
Console.WriteLine("Setup complete. Press center button on your controller to continue.");
while (!b.Buttons.Enter)
{
}
while (!b.Buttons.Down)
{
Single touch = b.Ports[InputPort.One].SIValue;
Single ir = b.Ports[InputPort.Four].SIValue;
Single motor = b.Ports[InputPort.D].SIValue;
String title = String.Format("FunkinCTRL -- Controls engaged // D -- {0}:{1}, #1 -- {2}:{3}, #4 -- {4}:{5} // Press DOWN button to exit loop.", b.Ports[InputPort.D].Type, motor, b.Ports[InputPort.One].Type, touch, b.Ports[InputPort.Four].Type, ir);
Console.Title = title;
ParseControllerInputs(touch, ir);
EscapeKey.IsDown = b.Buttons.Up;
EnterKey.IsDown = b.Buttons.Enter;
}
b.Disconnect();
Console.Error.WriteLine("Program ended.");
Console.Write("Press any key to continue . . . ");
Console.ReadKey(true);
}
protected override void OnCreate(Bundle savedInstanceState)
{
base.OnCreate(savedInstanceState);
// Set our view from the "main" layout resource
SetContentView(Resource.Layout.myview);
var btnForward = FindViewById <Button>(Resource.Id.myview_btnforward);
var btnBackward = FindViewById <Button>(Resource.Id.myview_btnbackward);
var btnLeft = FindViewById <Button>(Resource.Id.myview_btnleft);
var btnRight = FindViewById <Button>(Resource.Id.myview_btnright);
var btnGo = FindViewById <Button>(Resource.Id.myview_btngo);
var btnStop = FindViewById <Button>(Resource.Id.myview_btnstop);
//
var communication = new BluetoothCommunication(@"PPAP09");
var brick = new Brick(communication);
var command = new DirectCommand(brick);
brick.ConnectAsync();
communication.ReportReceived += (object sender, ReportReceivedEventArgs e) => {
WriteLine("Connected");
Connected = true;
};
brick.Ports[InputPort.One].SetMode(ColorMode.ReflectiveRgb);
brick.Ports[InputPort.One].PropertyChanged += (object sender, System.ComponentModel.PropertyChangedEventArgs e) => {
WriteLine(brick.Ports[InputPort.One].SIValue);
};
btnForward.Click += async(sender, e) => {
WriteLine("前");
IsForward = true;
if (Connected)
{
// 兩輪向前
await command.TurnMotorAtSpeedAsync(OutputPort.A, Speed);
await command.TurnMotorAtSpeedAsync(OutputPort.B, Speed);
}
};
btnBackward.Click += async(sender, e) => {
WriteLine("後");
IsForward = false;
if (Connected)
{
// 兩輪向後
await command.TurnMotorAtSpeedAsync(OutputPort.A, -Speed);
await command.TurnMotorAtSpeedAsync(OutputPort.B, -Speed);
}
};
btnLeft.Click += async(sender, e) => {
WriteLine("左");
if (Connected)
{
// 左輪向後，右輪向前
await command.TurnMotorAtSpeedAsync(OutputPort.A, Speed);
await command.TurnMotorAtSpeedAsync(OutputPort.B, Speed);
}
};
btnRight.Click += async(sender, e) => {
WriteLine("右");
if (Connected)
{
// 左輪向前，右輪向後
await command.TurnMotorAtSpeedAsync(OutputPort.A, Speed);
await command.TurnMotorAtSpeedAsync(OutputPort.B, Speed);
}
};
btnGo.Click += async(sender, e) => {
WriteLine("油門");
Speed += 5;
if (Speed >= 50)
{
Speed = 50;
}
if (Connected)
{
if (IsForward)
{
await command.TurnMotorAtSpeedAsync(OutputPort.A, Speed);
await command.TurnMotorAtSpeedAsync(OutputPort.B, Speed);
}
else
{
await command.TurnMotorAtSpeedAsync(OutputPort.A, -Speed);
await command.TurnMotorAtSpeedAsync(OutputPort.B, -Speed);
}
}
};
btnStop.Click += async(sender, e) => {
WriteLine("煞車");
if (Connected)
{
// 兩輪停止
await command.StopMotorAsync(OutputPort.A, true);
await command.StopMotorAsync(OutputPort.B, true);
}
};
Connected = false;
IsForward = true;
Speed = 20;
}
