/// <summary>
/// Connect to the NXT
/// </summary>
/// <param name="ComPort">The COM Port to connect. ex. 4</param>
public static void ConnectNXT(string ComPort)
{
try
{
comPort = byte.Parse(ComPort);
Brick = new NxtBrick(NxtCommLinkType.Bluetooth, comPort);
NxtMotor motorB = new NxtMotor();
Brick.MotorB = motorB;
NxtMotor motorC = new NxtMotor();
Brick.MotorC = motorC;
MotorPair = new NxtMotorSync(Brick.MotorB, Brick.MotorC);
if (!isConnected)
{
Brick.Connect();
isConnected = true;
Brick.PlaySoundfile("! Attention.rso");
}
}
catch
{
isConnected = false;
DisconnectNXT();
}
}
public Arm(string name, NxtMotor shoulderAlong, NxtMotor shoulderOut, NxtMotor elbowAlong, NxtMotor elbowOut)
{
ShoulderAlong = new Joint(shoulderAlong, name+"ShoulderAlong") {DegreeScaleFactor = 24, MinAngle = -270, MaxAngle = 270};
ShoulderOut = new Joint(shoulderOut, name + "ShoulderOut") { DegreeScaleFactor = 24, MinAngle = 0, MaxAngle = 200 };
ElbowAlong = new Joint(elbowAlong, name + "ElbowAlong") { Power = 10, MinAngle = 0, MaxAngle = 115 };
ElbowOut = new Joint(elbowOut, name + "ElbowOut") { Power = 10, MinAngle = -100, MaxAngle = 100 };
}
/// <summary>
/// <para>Constructor.</para>
/// </summary>
/// <param name="motorX">The 1. motor of the synchronized pair</param>
/// <param name="motorY">The 2. motor of the synchronized pair</param>
public NxtMotorSync(NxtMotor motorX, NxtMotor motorY)
{
if (motorX == null || motorY == null)
throw new ArgumentException("One of the motors was null.");
this.motorX = motorX;
this.motorY = motorY;
}
public RobotMovement(NxtBrick nxtBrick, NameValueCollection config)
{
_speed = sbyte.Parse(config["Speed"]);
_nxtBrick = nxtBrick;
var motorB = new NxtMotor();
var motorC = new NxtMotor();
_nxtBrick.MotorB = motorB;
_nxtBrick.MotorC = motorC;
_motorPair = new NxtMotorSync(motorB, motorC);
}
public Robot()
{
m_brick = new NxtBrick(NxtCommLinkType.Bluetooth, 3);
m_leftMotor = new NxtMotor();
m_rightMotor = new NxtMotor();
m_brick.MotorB = m_leftMotor;
m_brick.MotorC = m_rightMotor;
m_motors = new NxtMotorSync(m_leftMotor, m_rightMotor);
}
public RobotEngine()
{
_brick = new NxtBrick(NxtCommLinkType.Bluetooth, Config.SerialPortNo)
{
MotorA = new NxtMotor(),
MotorB = new NxtMotor(),
MotorC = new NxtMotor()
};
_motorCam = _brick.MotorC;
_motorSync = new NxtMotorSync(_brick.MotorA, _brick.MotorB);
}
public Joint(NxtMotor motor, string name = "Joint")
{
Name = name;
if (motor != null) {
Motor = motor;
motor.ResetMotorPosition(true);
motor.PollInterval = 5;
// Poll so tacho is not null
motor.Poll();
initialTacho = motor.GetNormalisedTacho();
// Turn the joint on
Active = true;
}
DegreeScaleFactor = 1;
MinAngle = null;
MaxAngle = null;
}
static void LinkMotorAxis()
{
Console.WriteLine("\nYou now have to specify which Motor represents which 3-dimensional Axis.");
Console.WriteLine("Enter ('A'/'B'/'C') the Motor controlling X-Axis (left-right) movement:");
MotorXaxis = Console.ReadKey().KeyChar;
Console.WriteLine("\nEnter ('A'/'B'/'C') the Motor controlling Y-Axis (foward-backward) movement: (This should be the axis that pushes the drill foward)");
MotorYaxis = Console.ReadKey().KeyChar;
Console.WriteLine("\nEnter ('A'/'B'/'C') the Motor controlling Z-Axis (up-down) movement:");
MotorZaxis = Console.ReadKey().KeyChar;
Xmotor = new NxtMotor();
Ymotor = new NxtMotor();
Zmotor = new NxtMotor();
switch (MotorXaxis)
{
case 'a':
brick.MotorA = Xmotor;
break;
case 'b':
brick.MotorB = Xmotor;
break;
case 'c':
brick.MotorC = Xmotor;
break;
}
switch (MotorYaxis)
{
case 'a':
brick.MotorA = Ymotor;
break;
case 'b':
brick.MotorB = Ymotor;
break;
case 'c':
brick.MotorC = Ymotor;
break;
}
switch (MotorZaxis)
{
case 'a':
brick.MotorA = Zmotor;
break;
case 'b':
brick.MotorB = Zmotor;
break;
case 'c':
brick.MotorC = Zmotor;
break;
}
}
static void LinkMotorAxis()
{
Console.WriteLine("\nYou now have to specify which Motor represents which 3-dimensional Axis.");
Console.WriteLine("Enter ('A'/'B'/'C') the Motor controlling X-Axis (left-right) movement:");
MotorXaxis = Console.ReadKey().KeyChar;
Console.WriteLine("\nEnter ('A'/'B'/'C') the Motor controlling Y-Axis (foward-backward) movement: (This should be the axis that pushes the drill foward)");
MotorYaxis = Console.ReadKey().KeyChar;
Console.WriteLine("\nEnter ('A'/'B'/'C') the Motor controlling Z-Axis (up-down) movement:");
MotorZaxis = Console.ReadKey().KeyChar;
Xmotor = new NxtMotor();
Ymotor = new NxtMotor();
Zmotor = new NxtMotor();
switch (MotorXaxis)
{
case 'a':
brick.MotorA = Xmotor;
break;
case 'b':
brick.MotorB = Xmotor;
break;
case 'c':
brick.MotorC = Xmotor;
break;
}
switch (MotorYaxis)
{
case 'a':
brick.MotorA = Ymotor;
break;
case 'b':
brick.MotorB = Ymotor;
break;
case 'c':
brick.MotorC = Ymotor;
break;
}
switch (MotorZaxis)
{
case 'a':
brick.MotorA = Zmotor;
break;
case 'b':
brick.MotorB = Zmotor;
break;
case 'c':
brick.MotorC = Zmotor;
break;
}
}
/// <summary>
/// <para>Constructor.</para>
/// </summary>
/// <param name="motorX">The 1. motor of the synchronized pair</param>
/// <param name="motorY">The 2. motor of the synchronized pair</param>
public McNxtMotorSync(NxtMotor motorX, NxtMotor motorY)
: base(motorX, motorY)
{
}
private NxtMotor AddMotorToNxt(MotorPort mp)
{
var motor = new NxtMotor();
var brick = nxtBricks[mp.Brick];
if (brick == null)
return null;
switch(mp.Motor) {
case NxtMotorPort.PortA: brick.MotorA = motor; break;
case NxtMotorPort.PortB: brick.MotorB = motor; break;
case NxtMotorPort.PortC: brick.MotorC = motor; break;
}
return motor;
}
/// <summary>
/// <para>Constructor.</para>
/// </summary>
/// <param name="motorX">The 1. motor of the synchronized pair</param>
/// <param name="motorY">The 2. motor of the synchronized pair</param>
public McNxtMotorSync(NxtMotor motorX, NxtMotor motorY)
: base(motorX, motorY)
{
}
//Brick connection procedure logic
private void button_connect_Click(object sender, EventArgs e)
{
if (!isConnectedToBrick)
{
byte COMport = byte.Parse(COMportInput.Text);
if (RB_McRXE.Checked)
{
//Create Motor Control NXT Brick and Bluetooth use USB to communicate with it.
if (RB_Bluetooth.Checked)
{
McBrick = new McNxtBrick(NxtCommLinkType.Bluetooth, COMport);
}
//Create Motor Control NXT Brick, and use USB to communicate with it.
if (RB_USB.Checked)
{
brick = new McNxtBrick(NxtCommLinkType.USB, COMport);
}
// Create a Motor Control motor.
McMotorA = new McNxtMotor();
McMotorB = new McNxtMotor();
McMotorC = new McNxtMotor();
//Synched motors
McMotorPair = new McNxtMotorSync(McMotorB, McMotorC);
// Attach it to port A of the NXT brick.
McBrick.MotorA = McMotorA;
McBrick.MotorB = McMotorB;
McBrick.MotorC = McMotorC;
// Connect to the NXT.
McBrick.Connect();
if (!McBrick.IsMotorControlRunning())
{
McBrick.StartMotorControl();
}
motorControlActive = true;
}
else
{
//Create NXT Brick and Bluetooth use USB to communicate with it.
if (RB_Bluetooth.Checked)
{
NxtBrick brick = new NxtBrick(NxtCommLinkType.Bluetooth, COMport);
}
// Create a NXT brick, and use USB to communicate with it.
if (RB_USB.Checked)
{
NxtBrick brick = new NxtBrick(NxtCommLinkType.USB, COMport);
}
// Create a motor.
motorA = new NxtMotor();
motorB = new NxtMotor();
motorC = new NxtMotor();
// Attach it to port A of the NXT brick.
brick.MotorA = motorA;
brick.MotorB = motorB;
brick.MotorC = motorC;
// Connect to the NXT.
brick.Connect();
}
ConnectedText.Visible = true;
isConnectedToBrick = true;
}
}
/// <summary>
/// <para>Attaches a motor to the NXT brick.</para>
/// </summary>
/// <param name="motor">The motor</param>
/// <param name="port">The port to attach the motor to</param>
private void AttachMotor(NxtMotor motor, NxtMotorPort port)
{
if (motor != null)
{
motorArr[port] = motor;
motor.Brick = this;
motor.Port = port;
}
}
