/// <summary>
/// Initializes a new instance of the <see cref="BaseComm"/> class.
/// </summary>
public BaseCommExample()
{
// Set up communication with the robot and initialize force to zero
robot = new RobotClient();
var version = robot.GetVersion();
Barrett.Logger.Debug(Barrett.Logger.INFO, version.ToString());
robot.SendCartesianForces(Vector3.zero);
// Set up keyboard callbacks. PrintUsage needs to be updated when these are changed.
keyboardManager = new Barrett.KeyboardManager();
keyboardManager.SetDebug(true); // print key pressed
keyboardManager.AddKeyPressCallback("q", Close); // this will call the Close method when 'q' is pressed
keyboardManager.AddKeyPressCallback("h", OnHome);
keyboardManager.AddKeyPressCallback("e", OnEnable);
keyboardManager.AddKeyPressCallback("d", OnDisable);
keyboardManager.AddKeyPressCallback("t", SubscribeToUpdate);
PrintUsage();
// Loop: send zero force at every timestep.
bool running = true;
while (running)
{
running = ReadKeyPress();
Thread.Sleep(50);
robot.SendCartesianForces(Vector3.zero);
}
}