/// <summary>
/// Updates the status of the robot's parts with the new keyboard commands received.
/// </summary>
/// <param name="commands">Keyboard state.</param>
public void Update(KeyCommand commands)
{
irisAngle = commands.open ? 0.0f : 180.0f;
armAngle = commands.lower ? 180.0f : 0.0f;
LeftDriveThrottle = 0.0f;
RightDriveThrottle = 0.0f;
Led_State = 0;
isLedOn = (commands.led ^ isLedOn);
Led_State = Convert.ToByte(isLedOn);
if (commands.forward)
{
LeftDriveThrottle = 0.5f;
RightDriveThrottle = 0.5f;
}
else if (commands.reverse)
{
LeftDriveThrottle = -0.5f;
RightDriveThrottle = -0.5f;
}
if (commands.left)
{
if (commands.forward || commands.reverse)
{
LeftDriveThrottle /= 2;
}
else
{
LeftDriveThrottle = -0.5f;
RightDriveThrottle = 0.5f;
}
}
if (commands.right)
{
if (commands.forward || commands.reverse)
{
RightDriveThrottle /= 2;
}
else
{
RightDriveThrottle = -0.5f;
LeftDriveThrottle = 0.5f;
}
}
if (commands.sprint)
{
LeftDriveThrottle *= 2.0f;
RightDriveThrottle *= 2.0f;
}
}
/// <summary>
/// Initializes the BaseStation GUI.
/// Attempts to connect to the Python server. If successful, the GUI opens up for use.
/// </summary>
public BaseStationGUI()
{
InitializeComponent();
// IPModeWindow ipMode = new IPModeWindow();
robotConnection = new UdpClient(4444);
/* if (ipMode.ShowDialog() != DialogResult.OK) System.Environment.Exit(0);
else
{
if (ipMode.check == 1)
{
getIP = new GetRobotIP(robotConnection);
robotIP = getIP.GetIP();
robotConnection.Connect(IPAddress.Parse(robotIP), 4444);
}
else
{
robotIP = ipMode.IP;
robotConnection.Connect(IPAddress.Parse(robotIP), 4444);
}
}
string baseip = "";
host = Dns.GetHostEntry(Dns.GetHostName());
foreach (IPAddress ip in host.AddressList)
{
if (ip.AddressFamily.ToString() == "InterNetwork")
{
baseip = ip.ToString();
}
}
byte[] buff = Encoding.ASCII.GetBytes(baseip);
robotConnection.Send(buff, buff.Length);
sensorData = new SensorData(robotIP);
sensorData.SensorUpdate += SensorData_SensorDataUpdate; */
commands = new KeyCommand();
xboxController = new GamepadState(SlimDX.XInput.UserIndex.One);
xboxController.ControllerUpdate += xboxController_ControllerUpdate;
xcontroller = new MotorControl();
kcontroller = new MotorControl();
/* ffplay = new Process();
ffplay.StartInfo.Arguments = "http://192.168.2.29:8090/live.mpg";
ffplay.StartInfo.FileName = "ffplay.exe";
ffplay.Start(); */
this.Activate();
}