public MainWindow() { InitializeComponent(); ArduMan = ArduinoManager.Instance; ArduMan.findArduinos(); handDuino = ArduMan.getHandArduino(); handDuino.Data_Received += handDuino_Data_Received; armDuino = ArduMan.getArmArduino(); armDuino.Data_Received += armDuino_Data_Received; Console.SetOut(consoleViz.getStreamLink()); //Show console output in gui Console.WriteLine("***Arm Control Booted***"); xboxController = new XboxController.XboxController(); armInput = armInputManager.getInstance(xboxController); armTransmitter = new localArmCommandTransmitter(armDuino, handDuino, armInput); xboxControllerMonitor.xboxController = xboxController; armSideView.armInputManager = armInput; armTopView.armInputManager = armInput; Console.WriteLine("***XBOX CONTROLLER CONNECTED***"); wristComponent._xboxController = xboxController; }
float deadzone = 15; // set lower for HIGHER resolution public MainWindow() { InitializeComponent(); ARMan = ArduinoManager.Instance; ARMan.findArduinos(); hanDuino = ARMan.getHandArduino(); hanDuino.Data_Received += hanDuino_Data_Received; comInViz.setTitle("WRIST COM IN"); comOutViz.setTitle("WRIST COM OUT"); XBController = new XboxController.XboxController(); XBController.ThumbStickLeft += XBController_ThumbStickLeft; XBController.ButtonAReleased += XBController_ButtonAReleased; //Press A to start/restart dance, exit live data mode. XBController.ButtonBReleased += XBController_ButtonBReleased; //Press B to go into live input mode, exit dance mode. XBController.ButtonStartReleased += XBController_ButtonStartReleased; //Press start button for emergency stop XBController.TriggerRight += XBController_TriggerRight; }
int deadzone = 1; //Lower this value for increased resolution (might cause slower response) public MainWindow() { InitializeComponent(); serialTimer = new Timer(serialTimerCallback, null, 0, 50); wristInViz.setTitle("WRIST COM IN"); ArduMan = ArduinoManager.Instance; ArduMan.findArduinos(); wristDuino = ArduMan.getHandArduino(); wristDuino.Data_Received += wristDuino_Data_Received; XBoxCon = new XboxController.XboxController(); XBoxCon.ThumbStickLeft+= XBoxCon_ThumbStickLeft; Dispatcher.Invoke(() => maxMagSlider.Value = MAX_MAGNITUDE); }
public MainWindow() { InitializeComponent(); driveIPLabel.Content = rocConstants.MCIP_DRIVE.ToString(); armIPLabel.Content = rocConstants.MCIP_ARM.ToString(); logisticsIPLabel.Content = rocConstants.MCIP_LOGISTICS; engineeringIPLabel.Content = rocConstants.MCIP_ENG.ToString(); NetMan = networkManager.getInstance(incomingDriveLineManager, incomingEngLineManager, incomingArmLineManager, incomingLogisticsLineManager); NetMan.DriveConnectionStatusChanged += NetMan_DriveConnectionStatusChanged; NetMan.EngineeringConnectionStatusChanged += NetMan_EngineeringConnectionStatusChanged; NetMan.ArmConnectionStatusChanged += NetMan_ArmConnectionStatusChanged; NetMan.LogisticsConnectionStatusChanged += NetMan_LogisticsConnectionStatusChanged; ArduMan = ArduinoManager.Instance; ArduMan.findArduinos(); backDrive = ArduMan.getDriveBackArduino(false); frontDrive = ArduMan.getDriveFrontArduino(false); ptDuino = ArduMan.getPanTiltArduino(true); ArmDuino = ArduMan.getArmArduino(false); HandDuino = ArduMan.getHandArduino(false); miscDuino = ArduMan.getMiscArduino(false); backDrive.Data_Received += backDrive_Data_Received; frontDrive.Data_Received += frontDrive_Data_Received; ptDuino.Data_Received += ptDuino_Data_Received; ArmDuino.Data_Received += ArmDuino_Data_Received; HandDuino.Data_Received += HandDuino_Data_Received; miscDuino.Data_Received += miscDuino_Data_Received; driveMan = driveManager.getInstance(backDrive, frontDrive, NetMan); ptMan = ptManager.getInstance(ptDuino, NetMan); armMan = armManager.getInstance(ArmDuino, HandDuino, NetMan); hwMonitor = ROCInfo.getInstance(1000);//updates once per second hwMonitor.updatedValue += hwMonitor_updatedValue; camMan = cameraManager.getInstance(); camMan.assignCameras(); VideoCaptureDevice panTiltLeft; VideoCaptureDevice panTiltRight; if(camMan.getCamera(rocConstants.CAMS.PT_left, out panTiltLeft) && camMan.getCamera(rocConstants.CAMS.PT_right, out panTiltRight)){ //if both the left and right cameras are found... panTiltTransmitter = new managedDualVideoTransmitter(panTiltLeft, panTiltRight, rocConstants.MCIP_DRIVE, rocConstants.MCPORT_DRIVE_VIDEO_OCULUS); panTiltTransmitter.startTransmitting(); } ////////////// ///VIDEO CAMS SETUP ////////////// VideoCaptureDevice palmCam; if (camMan.getCamera(rocConstants.CAMS.PALM, out palmCam)) { palmCamTransmitter = new managedVideoTransmitter(palmCam, rocConstants.MCIP_ARM, rocConstants.MCPORT_ARM_VIDEO_PALM); } VideoCaptureDevice noseCam; if (camMan.getCamera(rocConstants.CAMS.NOSE, out noseCam)) { noseCamTransmitter = new managedVideoTransmitter(noseCam, rocConstants.MCIP_DRIVE, rocConstants.MCPORT_DRIVE_VIDEO_NOSE); } VideoCaptureDevice humerusCam; if (camMan.getCamera(rocConstants.CAMS.Humerus, out humerusCam)) { humerusCamTransmitter = new managedVideoTransmitter(humerusCam, rocConstants.MCIP_ARM, rocConstants.MCPORT_ARM_VIDEO_HUMERUS); } ////////////// ///SNAPSHOT CAMS SETUP ////////////// VideoCaptureDevice logFrontCam; if (camMan.getCamera(rocConstants.CAMS.LOG_FRONT, out logFrontCam)) { logFrontSS = new snapShotSender(logFrontCam); } VideoCaptureDevice logRightCam; if (camMan.getCamera(rocConstants.CAMS.LOG_RIGHT, out logRightCam)) { logRightSS = new snapShotSender(logRightCam); } VideoCaptureDevice logBackCam; if (camMan.getCamera(rocConstants.CAMS.LOG_BACK, out logBackCam)) { logBackSS = new snapShotSender(logBackCam); } VideoCaptureDevice logLeftCam; if (camMan.getCamera(rocConstants.CAMS.LOG_LEFT, out logLeftCam)) { logLeftSS = new snapShotSender(logLeftCam); } }