Example #1
0
 public static void Abort()
 {
     locked = true;
     basicTurnOnThread.Abort();
     basicTurnOffThread.Abort();
     basicTakeOffThread.Abort();
     basicLandThread.Abort();
     basicRotateRightThread.Abort();
     basicRotateLeftThread.Abort();
     basicUpThread.Abort();
     basicDownThread.Abort();
     basicStraightRightThread.Abort();
     basicStraightLeftThread.Abort();
     basicForwardThread.Abort();
     basicBackwardThread.Abort();
     BasicFunctions.disarm();
     BasicFunctions.arm();
     basicTurnOnThread        = new System.Threading.Thread(basicmission_turnOn);
     basicTurnOffThread       = new System.Threading.Thread(basicmission_turnOff);
     basicTakeOffThread       = new System.Threading.Thread(basicmission_takeOff);
     basicLandThread          = new System.Threading.Thread(basicmission_land);
     basicRotateRightThread   = new System.Threading.Thread(basicmission_rotateRight);
     basicRotateLeftThread    = new System.Threading.Thread(basicmission_rotateLeft);
     basicUpThread            = new System.Threading.Thread(basicmission_up);
     basicDownThread          = new System.Threading.Thread(basicmission_down);
     basicStraightRightThread = new System.Threading.Thread(basicmission_straightRight);
     basicStraightLeftThread  = new System.Threading.Thread(basicmission_straightLeft);
     basicForwardThread       = new System.Threading.Thread(basicmission_forward);
     basicBackwardThread      = new System.Threading.Thread(basicmission_backward);
     missionDemo1Thread       = new System.Threading.Thread(mission_demo1);
     locked = false;
 }
Example #2
0
        public static Boolean turnOn_turnOff(Boolean on)
        {
            Boolean armed  = BasicFunctions.channelsActualValues[4] == 2000;
            Boolean result = false;

            if (armed && !on)
            {
                result = BasicFunctions.disarm();
            }

            if (!armed && on)
            {
                result = BasicFunctions.arm();
            }
            return(result);
        }
Example #3
0
        public static Boolean land()
        {
            Boolean result        = false;
            Boolean condition     = false;
            Boolean armed         = BasicFunctions.channelsActualValues[4] == 2000;
            int     throttleValue = BasicFunctions.channelsActualValues[3];

            condition = armed && throttleValue > 1000;

            while (condition)
            {
                throttleValue -= 50;
                if (throttleValue <= 1000)
                {
                    throttleValue = 1000;
                    result        = BasicFunctions.throttle(throttleValue);
                    break;
                }
                result = BasicFunctions.throttle(throttleValue);
                Thread.Sleep(500);
            }
            return(result);
        }
Example #4
0
        public static Boolean rotateRight(int seconds)
        {
            Boolean result        = false;
            Boolean condition     = false;
            Boolean armed         = BasicFunctions.channelsActualValues[4] == 2000;
            double  executionTime = seconds * 1000;
            int     yawValue      = BasicFunctions.channelsActualValues[2];
            int     throttleValue = BasicFunctions.channelsActualValues[3];

            condition = armed && throttleValue > 1000;
            Boolean actualYawMajor = yawValue > 1700;
            Boolean actualYawMinor = yawValue < 1700;

            DateTime start = DateTime.Now;

            while (condition && actualYawMajor)
            {
                Thread.Sleep(300);
                yawValue -= 50;
                if (yawValue <= 1700)
                {
                    yawValue       = 1700;
                    actualYawMajor = false;
                    DateTime end = DateTime.Now;
                    executionTime -= (end - start).TotalMilliseconds;
                }
                result = BasicFunctions.yaw(yawValue);
            }

            if (executionTime <= 0)
            {
                while (true)
                {
                    Thread.Sleep(300);
                    yawValue -= 50;
                    if (yawValue <= 1500)
                    {
                        yawValue = 1500;
                        result   = BasicFunctions.yaw(yawValue);
                        break;
                    }
                    result = BasicFunctions.yaw(yawValue);
                }
                return(result);
            }

            start = DateTime.Now;
            while (condition && actualYawMinor)
            {
                Thread.Sleep(300);
                yawValue += 50;
                if (yawValue >= 1700)
                {
                    yawValue       = 1700;
                    actualYawMinor = false;
                    DateTime end = DateTime.Now;
                    executionTime -= (end - start).TotalMilliseconds;
                }
                result = BasicFunctions.yaw(yawValue);
            }

            if (executionTime <= 0)
            {
                while (true)
                {
                    Thread.Sleep(300);
                    yawValue -= 50;
                    if (yawValue <= 1500)
                    {
                        yawValue = 1500;
                        result   = BasicFunctions.yaw(yawValue);
                        break;
                    }
                    result = BasicFunctions.yaw(yawValue);
                }
                return(result);
            }

            Thread.Sleep(Convert.ToInt32(executionTime));
            while (true)
            {
                Thread.Sleep(300);
                yawValue -= 50;
                if (yawValue <= 1500)
                {
                    yawValue = 1500;
                    result   = BasicFunctions.yaw(yawValue);
                    break;
                }
                result = BasicFunctions.yaw(yawValue);
            }
            return(result);
        }
Example #5
0
        public static Boolean down(int seconds)
        {
            Boolean result           = false;
            Boolean condition        = false;
            Boolean armed            = BasicFunctions.channelsActualValues[4] == 2000;
            double  executionTime    = seconds * 1000;
            int     throttleValue    = BasicFunctions.channelsActualValues[3];
            int     minThrottleValue = throttleValue - 200;

            condition = armed && throttleValue > 1000;

            if (throttleValue == 2000)
            {
                return(false);
            }
            if (minThrottleValue < 1150)
            {
                minThrottleValue = 1150;
            }

            DateTime start = DateTime.Now;

            while (condition)
            {
                Thread.Sleep(300);
                throttleValue -= 50;
                if (throttleValue <= minThrottleValue)
                {
                    throttleValue = minThrottleValue;
                    DateTime end = DateTime.Now;
                    executionTime -= (end - start).TotalMilliseconds;
                    result         = BasicFunctions.throttle(throttleValue);
                    break;
                }
                result = BasicFunctions.throttle(throttleValue);
            }

            if (executionTime <= 0)
            {
                while (true)
                {
                    Thread.Sleep(300);
                    throttleValue += 50;
                    if (throttleValue >= minThrottleValue + 200)
                    {
                        throttleValue = minThrottleValue + 200;
                        result        = BasicFunctions.throttle(throttleValue);
                        break;
                    }
                    result = BasicFunctions.throttle(throttleValue);
                }
                return(result);
            }

            Thread.Sleep(Convert.ToInt32(executionTime));
            while (true)
            {
                Thread.Sleep(300);
                throttleValue += 50;
                if (throttleValue <= minThrottleValue + 200)
                {
                    throttleValue = minThrottleValue + 200;
                    result        = BasicFunctions.throttle(throttleValue);
                    break;
                }
                result = BasicFunctions.throttle(throttleValue);
            }
            return(result);
        }