static void Main(string[] args)
{
try
{
EV3Messenger messenger = new EV3Messenger();
if (messenger.Connect(PORT))
{
Console.WriteLine("Connected");
}
else
{
throw new InvalidOperationException("Connection failed");
}
int ctop = Console.CursorTop;
int cleft = Console.CursorLeft;
while (true)
{
GamePadState state = GamePad.GetState(PlayerIndex.One);
float stateX = state.ThumbSticks.Left.X;
float stateY = state.ThumbSticks.Left.Y;
int baseSpeed = (int)(stateY * SCALE);
int correction = Math.Abs((int)(stateX * CORRECTION_SCALE));
int leftSpeed = baseSpeed;
int rightSpeed = baseSpeed;
if (stateX > 0)
{
leftSpeed += correction;
rightSpeed -= correction;
}
else if (stateX < 0)
{
leftSpeed -= correction;
rightSpeed += correction;
}
Console.SetCursorPosition(cleft, ctop);
Console.Write(" ");
Console.SetCursorPosition(cleft, ctop);
Console.Write(leftSpeed.ToString() + " " + rightSpeed.ToString());
messenger.SendMessage("left", (float)leftSpeed);
messenger.SendMessage("right", (float)rightSpeed);
Thread.Sleep(50); // sleep so the brick can keep up
}
}
catch (Exception ex)
{
Console.WriteLine("Error: " + ex.Message);
Console.ReadKey();
}
}
public Connection(string port)
{
Messenger = new EV3Messenger();
if (!Messenger.Connect(port))
throw new EV3CommunicationException(
"Connection with EV3 failed");
this.Status = RobotStatus.Empty;
this.LastColor = Color.White;
this.LastColorIsRead = true;
ReadTimer = new Timer(50);
ReadTimer.Elapsed += new ElapsedEventHandler(ReadTimer_Elapsed);
ReadTimer.Start();
}
static void Main(string[] args)
{
messenger = new EV3Messenger();
Timer ReadTimer = new Timer(50);
ReadTimer.Elapsed += new ElapsedEventHandler(ReadTimer_Elapsed);
ReadTimer.Start();
if (messenger.Connect("com40"))
{
Console.Write("Connected.");
}
else
{
throw new NotSupportedException("Connection error");
}
while (true)
{
Console.WriteLine(lastmessage);
}
}
static void Main(string[] args)
{
int ctop;
int cleft;
//Timer readTimer = new Timer(new TimerCallback(Timer);
try
{
EV3Messenger messenger = new EV3Messenger();
if (messenger.Connect("com40"))
{
Console.WriteLine("Connected.");
ctop = Console.CursorTop;
cleft = Console.CursorLeft;
}
else
throw new InvalidOperationException("Connection error.");
while (true)
{
EV3Message licht = messenger.ReadMessage();
GamePadState state = GamePad.GetState(PlayerIndex.One);
int left = 0;
int right = 0;
int baseSpeed = (int)(state.Triggers.Left * 60);
int baseSpeed = (int)(state.Triggers.Left * 40);
int message = baseSpeed * 100;
message += baseSpeed;
if (state.ThumbSticks.Left.X >= 0)
right = (int)(state.ThumbSticks.Left.X * 30);
else if (state.ThumbSticks.Left.X <= 0)
left = (int)Math.Abs(state.ThumbSticks.Left.X * 30);
right = (int)(state.ThumbSticks.Left.X * 50);
else if (state.ThumbSticks.Left.X <= 0)
left = (int)Math.Abs(state.ThumbSticks.Left.X * 50);
right *= 100;
message += left;
message += right;
if (state.Buttons.A == ButtonState.Pressed)
message = -1;
int turretspeed = (int)(state.ThumbSticks.Right.X * 20);
Console.SetCursorPosition(cleft, ctop);
Console.Write(" ");
Console.SetCursorPosition(cleft, ctop);
Console.Write(message.ToString() + " " + turretspeed.ToString());
Console.Write(message.ToString() + " " + turretspeed.ToString() + " " + licht.ToString());
messenger.SendMessage("sturen", (float)message);
messenger.SendMessage("turret", (float)turretspeed);
//Thread.Sleep(new TimeSpan(1000));
Thread.Sleep(50);
/* Brick can be slow processing bluetooth commands and queues them,
* so simply add a delay of 50ms in each loop in the sender and the
* brick can handle messages fine, brick has been tested without
* any noticable delay and brick 'code' doesn't need waits.
*/
}
}
catch (Exception ex)
{
Console.WriteLine(ex.Message);
}
finally
{
Console.WriteLine("Connection closed.");
Console.ReadKey();
}
}
