public Robot(string teamID)
{
this.teamID = teamID;
radio = new Radio(this, portName);
// Initialize single motor COM port
motorPort = new SerialPort("COM1", 9600);
motorPort.ReadTimeout = 2;
motorPort.Open();
// Send baudrate autodetect byte (0xAA)
motorPort.Write(new byte[] { (byte)0xAA }, 0, 1);
leftMotor = new SimpleMotorController(this, 13);
rightMotor = new SimpleMotorController(this, 14);
}
private RXState state; /** Current state of the receiver. */
#endregion Fields
#region Constructors
/** Constructor for the XBeeInterfaceReceiver class.
* @param p The parent Radio instance we're parsing packets for. */
public XBeeInterfaceReceiver(Radio p)
{
state = (int)RXState.IDLE;
packet = new XBeeRXPacket();
parent = p;
}
public Robot(string teamID, String robotComPort)
{
motorPort = new SerialPort("COM1", 9600, Parity.None, 8, StopBits.One);
motorPort.ReadTimeout = 2;
motorPort.Open();
// Debug.Print("set actuators");
actuators = new ArrayList();
sensors = new ArrayList();
canMove = true;
isAutonomous = false; // Not sure about this
RobotSet = false;
autoWait = new ManualResetEvent(false);
scWait = new ManualResetEvent(false);
this.teamID = teamID;
radio = new Radio(this, robotComPort);
student = new StudentCode(this);
lock (radioLock)
{
UIAnalogVals = radio.UIAnalogVals;
UIDigitalVals = radio.UIDigitalVals;
FieldAnalogVals = radio.FieldAnalogVals;
FieldDigitalVals = radio.FieldDigitalVals;
Debug.Print(" digital length: " + UIDigitalVals.Length);
}
// Setup threads to maintain and control actuators based on radio input
robotThread = new Thread(this.Run);
//radioThread = new Thread(radio.Poll);
studentCodeThread = new Thread(student.UserControlledCode);
autonomousThread = new Thread(student.AutonomousCode);
// Name the threads for debugging purposes
/*robotThread.Name = "robotThread";
radioThread.Name = "radioThread";
studentCodeThread.Name = "studentCodeThread";
autonomousThread.Name = "autonomousThread";*/
// Start all the threads
robotThread.Start();
//radioThread.Start();
studentCodeThread.Start();
autonomousThread.Start();
}
public XBeeReceiver(Radio p)
{
state = (int)RXState.IDLE;
buffer = new byte[128];
packet = new XBeeRXPacket();
parent = p;
}
public Robot(string teamID)
{
this.teamID = teamID;
radio = new Radio(this, portName);
}
/// <summary>
/// Robot Constructor: initilizes variables
/// </summary>
/// <param name="teamID">Team ID</param>
/// <param name="radioComPort">Radio Com Port</param>
public Robot(string teamID, String radioComPort)
{
actuators = new ArrayList();
sensors = new ArrayList();
ports = new ArrayList();
canMove = true;
isAutonomous = false;
this.teamID = teamID;
radio = new Radio(radioComPort);
i2c = new I2CBus();
heartbeatTimer = DateTime.Now.Ticks;
// Set the team color for the shiftBrite
// Still to be implemented in 0.1c
// Make a deep copy of the UI values so they don't change mid-update
UIAnalogVals = (int[])radio.UIAnalogVals.Clone();
UIDigitalVals = (bool[])radio.UIDigitalVals.Clone();
}
