//// ************************************* // Function for Right 90 degree turns // **************** void skeleton_onRightQuarterTurn(object sender, SkeletonSlam.SkeletonArgs e) { if (tcpClient != null && tcpClient.Status == TCPSlamClient.ClientStatus.Connected) { // mine //******************************* startTurn = DateTime.Now; endTurn = DateTime.Now; TimeSpan timeLapse = endTurn - startTurn; Console.WriteLine("Change the values"); //*************************************** //tcpClient.SendData(TCPSlamBase.MessageType.LeftMotor, BitConverter.GetBytes(e.LHandHeight)); //tcpClient.SendData(TCPSlamBase.MessageType.RightMotor, BitConverter.GetBytes(e.RHandHeight)); tcpClient.SendData(TCPSlamBase.MessageType.LeftMotor, BitConverter.GetBytes(0.5)); tcpClient.SendData(TCPSlamBase.MessageType.RightMotor, BitConverter.GetBytes(-0.5)); if (cameraWindow != null) { //Console.WriteLine("The values should be changed"); cameraWindow.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { cameraWindow.SetLeftWheelPower(0.5); })); cameraWindow.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { cameraWindow.SetRightWheelPower(-0.5); })); cameraWindow.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { cameraWindow.UpdateLineGraphs(); })); } do { endTurn = DateTime.Now; timeLapse = endTurn - startTurn; //Console.WriteLine("timeLapse = " + timeLapse); Console.WriteLine("Right Quarter turn: " + timeLapse); } while (timeLapse.Seconds < 2.5); Console.WriteLine("Back to normal."); } }
private void Window_Loaded(object sender, RoutedEventArgs e) { skeleton = new SkeletonSlam(); skeleton.onHandHeightChanged += new EventHandler<SkeletonSlam.SkeletonArgs>(skeleton_onHandHeightChanged); skeleton.onRightAngleTurn += new EventHandler<SkeletonSlam.SkeletonArgs>(skeleton_onRightAngleTurn); skeleton.onLeftQuarterTurn += new EventHandler<SkeletonSlam.SkeletonArgs>(skeleton_onLeftQuarterTurn); skeleton.onRightQuarterTurn += new EventHandler<SkeletonSlam.SkeletonArgs>(skeleton_onRightQuarterTurn); skeleton.onLeftHalfTurn += new EventHandler<SkeletonSlam.SkeletonArgs>(skeleton_onLeftHalfTurn); skeleton.onLeftFullTurn += new EventHandler<SkeletonSlam.SkeletonArgs>(skeleton_onLeftFullTurn); skeleton.onRightHalfTurn += new EventHandler<SkeletonSlam.SkeletonArgs>(skeleton_onRightHalfTurn); skeleton.onRightFullTurn += new EventHandler<SkeletonSlam.SkeletonArgs>(skeleton_onRightFullTurn); controller = new ControllerSlam(); controller.OnButtonsChanged += new EventHandler<ControllerSlam.ButtonArgs>(controller_OnButtonsChanged); tcpClient = new TCPSlamClient(); tcpClient.Port = 9988; tcpClient.OnConnectionStatusChanged += new EventHandler<TCPSlamClient.ClientStatusArgs>(tcpClient_OnConnectionStatusChanged); tcpClient.OnDataReceived += new EventHandler<TCPSlamBase.MessageArgs>(tcpClient_OnDataReceived); txtIP.Text = Common.GetIP(); }
void skeleton_onHandHeightChanged(object sender, SkeletonSlam.SkeletonArgs e) { if (tcpClient != null && tcpClient.Status == TCPSlamClient.ClientStatus.Connected) { //for(int i =0; i<10; i++) // Console.WriteLine("R-HandHeight: " + e.RHandHeight); tcpClient.SendData(TCPSlamBase.MessageType.LeftMotor, BitConverter.GetBytes(e.LHandHeight)); tcpClient.SendData(TCPSlamBase.MessageType.RightMotor, BitConverter.GetBytes(e.RHandHeight)); if (cameraWindow != null) { cameraWindow.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { cameraWindow.SetLeftWheelPower(e.LHandHeight); })); cameraWindow.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { cameraWindow.SetRightWheelPower(e.RHandHeight); })); cameraWindow.Dispatcher.Invoke(DispatcherPriority.Normal, new Action(delegate() { cameraWindow.UpdateLineGraphs(); })); } } }