public void PilotButton_Click(object sender, RoutedEventArgs e)
{
//_T();
if (((ToggleButton)sender)?.IsChecked ?? false)
{
if (Pilot != null)
{
Pilot.OnPilotReceive -= Pilot_OnReceive;
Pilot.Close();
}
Pilot = Pilot.Factory(PilotString);
Pilot.OnPilotReceive += Pilot_OnReceive;
}
else
{
if (Pilot != null)
{
Pilot.Close();
Pilot.OnPilotReceive -= Pilot_OnReceive;
}
}
CommStatus = Pilot.CommStatus;
}
public void CurrentTestX(object sender, RoutedEventArgs e)
{
//Pilot = Pilot.Factory("192.168.42.1");
//Pilot = Pilot.Factory("127.0.0.1");
Pilot = Pilot.Factory("com3");
Pilot.OnPilotReceive += Pilot_OnReceive;
Pilot.Send(new { Cmd = "SRVO", Value = 10 });
System.Threading.Thread.Sleep(500);
Pilot.Send(new { Cmd = "SRVO", Value = 90 });
System.Threading.Thread.Sleep(500);
Pilot.Send(new { Cmd = "SRVO", Value = 170 });
System.Threading.Thread.Sleep(500);
Pilot.Send(new { Cmd = "SRVO", Value = 90 });
}
public void CurrentTest(object sender, RoutedEventArgs e)
{
try {
Pilot = Pilot.Factory("192.168.42.1");
//Pilot = Pilot.Factory("127.0.0.1");
//Pilot = Pilot.Factory("com15");
Pilot.OnPilotReceive += Pilot_OnReceive;
Pilot.Send(new { Cmd = "CONFIG", TPM = 353, MMX = 450, StrRv = -1 });
Pilot.Send(new { Cmd = "CONFIG", M1 = new int[] { 1, -1 }, M2 = new int[] { -1, 1 } });
Pilot.Send(new { Cmd = "CONFIG", HPID = new float[] { 75f, .8f, .04f } });
Pilot.Send(new { Cmd = "RESET" });
Pilot.Send(new { Cmd = "ESC", Value = 1 });
Pilot.Send(new { Cmd = "MOV", Dist = 1, Pwr = 40 });
Pilot.waitForEvent(); Dispatcher.Invoke(DispatcherPriority.Background, new Action(delegate { })); // doEvents
//var hdgTo0 = 180;
float hdgTo0 = (float)(Math.Atan2(X, -Y) * 180 / Math.PI);
Pilot.Send(new { Cmd = "ROT", Hdg = hdgTo0 });
Pilot.waitForEvent(); Dispatcher.Invoke(DispatcherPriority.Background, new Action(delegate { })); // doEvents
float distTo0 = (float)(Math.Sqrt(X * X + Y * Y));
Pilot.Send(new { Cmd = "MOV", Dist = distTo0, Hdg = hdgTo0, Pwr = 40.0F });
Pilot.waitForEvent(); Dispatcher.Invoke(DispatcherPriority.Background, new Action(delegate { })); // doEvents
Pilot.Send(new { Cmd = "ROT", Hdg = 0.0 });
Pilot.waitForEvent(); Dispatcher.Invoke(DispatcherPriority.Background, new Action(delegate { })); // doEvents
Pilot.Send(new { Cmd = "ESC", Value = 0 });
}
catch (TimeoutException)
{
Trace.WriteLine("Timeout waiting for event");
Pilot.Send(new { Cmd = "ESC", Value = 0 });
Pilot.Send(new { Cmd = "MOV", M1 = 0, M2 = 0 });
}
}