public OmniPosition Subtract(OmniPosition pos)
{
return(new OmniPosition(
LeftX - pos.LeftX,
LeftY - pos.LeftY,
LeftZ - pos.LeftZ,
Gimbal1Left - pos.Gimbal1Left,
Gimbal2Left - pos.Gimbal2Left,
Gimbal3Left - pos.Gimbal3Left,
ButtonsLeft,
InkwellLeft,
RightX - pos.RightX,
RightY - pos.RightY,
RightZ - pos.RightZ,
Gimbal1Right - pos.Gimbal1Right,
Gimbal2Right - pos.Gimbal2Right,
Gimbal3Right - pos.Gimbal3Right,
ButtonsRight,
InkwellRight,
ExtraButtons
));
}
public OmniPosition Add(OmniPosition pos)
{
return(new OmniPosition(
LeftX + pos.LeftX,
LeftY + pos.LeftY,
LeftZ + pos.LeftZ,
Gimbal1Left + pos.Gimbal1Left,
Gimbal2Left + pos.Gimbal2Left,
Gimbal3Left + pos.Gimbal3Left,
ButtonsLeft,
InkwellLeft,
RightX + pos.RightX,
RightY + pos.RightY,
RightZ + pos.RightZ,
Gimbal1Right + pos.Gimbal1Right,
Gimbal2Right + pos.Gimbal2Right,
Gimbal3Right + pos.Gimbal3Right,
ButtonsRight,
InkwellRight,
ExtraButtons
));
}
private void showOmniPositions(OmniPosition currentPosition)
{
lbX1value.Text = "X : " + currentPosition.LeftX.ToString();
lbY1value.Text = "Y : " + currentPosition.LeftY.ToString();
lbZ1value.Text = "Z : " + currentPosition.LeftZ.ToString();
lbGimbal11.Text = "Gimbal 1 : " + currentPosition.Gimbal1Left.ToString();
lbGimbal21.Text = "Gimbal 2 : " + currentPosition.Gimbal2Left.ToString();
lbGimbal31.Text = "Gimbal 3 : " + currentPosition.Gimbal3Left.ToString();
lbButtons1.Text = "Buttons : " + currentPosition.ButtonsLeft;
lbInk1.Text = "InkWell : " + currentPosition.InkwellLeft.ToString();
bool pedPress = false;
for (int i = 0; i < User.NumExternalButtons; i++)
{
if (currentPosition.ExtraButtons[i])
{
lbl_ExBtns.Text = "Ex. Buttons :" + (i + 1).ToString();
pedPress = true;
break;
}
}
if (!pedPress)
lbl_ExBtns.Text = "Ex. Buttons : 0";
lbX2Value.Text = "X : " + currentPosition.RightX.ToString();
lbY2Value.Text = "Y : " + currentPosition.RightY.ToString();
lbZ2Value.Text = "Z : " + currentPosition.RightZ.ToString();
lbGimbal12.Text = "Gimbal 1 : " + currentPosition.Gimbal1Right.ToString();
lbGimbal22.Text = "Gimbal 2 : " + currentPosition.Gimbal2Right.ToString();
lbGimbal32.Text = "Gimbal 3 : " + currentPosition.Gimbal3Right.ToString();
lbButtons2.Text = "Buttons : " + currentPosition.ButtonsRight.ToString();
lbInk2.Text = "InkWell : " + currentPosition.InkwellRight.ToString();
}
private bool checkButton(OmniPosition pos, string btn, int value)
{
if (!btn.Equals(""))
{
if (btn.Contains("Left"))
{
if (pos.ButtonsLeft.Equals(value))
return true;
}
else if (btn.Contains("Right"))
{
if (pos.ButtonsRight.Equals(value))
return true;
}
else
{
for (int i = 0; i < pos.ExtraButtons.Count(); i++)
{
if (pos.ExtraButtons[i] && i.Equals(value))
return true;
}
}
}
return false;
}
public void SetOmniForce(OmniPosition Force)
{
if (HasOmnis)
{
LeftOmni.SetpointX = Force.LeftX;
LeftOmni.SetpointY = Force.LeftY;
LeftOmni.SetpointZ = Force.LeftZ;
RightOmni.SetpointX = Force.RightX;
RightOmni.SetpointY = Force.RightY;
RightOmni.SetpointZ = Force.RightZ;
}
}
public void OmniFollow(OmniPosition InControlPosition)
{
if (HasOmnis)
{
OmniPosition currentPosition = GetOmniPositions();
double forceLX = followingForceConstant * (InControlPosition.LeftX - currentPosition.LeftX);
if (forceLX > forceMax) forceLX = forceMax;
double forceLY = followingForceConstant * (InControlPosition.LeftY - currentPosition.LeftY);
if (forceLY > forceMax) forceLY = forceMax;
double forceLZ = followingForceConstant * (InControlPosition.LeftZ - currentPosition.LeftZ);
if (forceLZ > forceMax) forceLZ = forceMax;
double forceRX = followingForceConstant * (InControlPosition.RightX - currentPosition.RightX);
if (forceRX > forceMax) forceRX = forceMax;
double forceRY = followingForceConstant * (InControlPosition.RightY - currentPosition.RightY);
if (forceRY > forceMax) forceRY = forceMax;
double forceRZ = followingForceConstant * (InControlPosition.RightZ - currentPosition.RightZ);
if (forceRZ > forceMax) forceRZ = forceMax;
SetOmniForce(new OmniPosition(forceLX, forceLY, forceLZ, forceRX, forceRY, forceRZ));
}
}
public OmniPosition GetOmniPositions()
{
LeftOmni.Update();
RightOmni.Update();
OmniPosition currentPosition = new OmniPosition(LeftOmni, RightOmni);
//add any external buttons
if (extButtonsConnected)
{
if (externalButtons.Length == 0)
externalButtons = new bool[NumExternalButtons];
if (extButtonsPort.BytesToRead >= NumExternalButtons)
{
//externalButtons = new bool[NumExternalButtons];
int intReturnASCII = 0;
string returnMessage = "";
for (int i = NumExternalButtons; i > 0 ; i--)
{
intReturnASCII = extButtonsPort.ReadByte();
returnMessage = returnMessage + Convert.ToChar(intReturnASCII);
}
if (returnMessage != "")
{
//if (externalButtons == new bool[0])
for (int i = 0; i < NumExternalButtons; i++)
{
externalButtons[i] = Convert.ToBoolean(Char.GetNumericValue(returnMessage[i]));
}
}
extButtonsPort.DiscardInBuffer();
}
currentPosition.ExtraButtons = externalButtons;
}
return currentPosition;
/*
//Update External Buttons Label
if (externalButtons != null)
{
int j = 1;
foreach (bool b in externalButtons)
{
if (b)
lbl_ExBtns.Text = "Ex. Buttons : " + j;
j++;
}
}
if (isInControl)
inControlPosition = currentPosition.Add(positionOffset);
if (currentPosition.ButtonsRight == 2 && !buttonPressed)
{
if (!isInControl)
{
buttonPressed = true;
feedbackEnabled = !feedbackEnabled;
}
}
//Check for emergency switch press
if (isMaster && !isInControl)
{
if (EmergencySwitchBoundBtn.Contains("Left"))
{
if (currentPosition.ButtonsLeft == EmergencySwitchBoundValue)
emergencySwitchControl();
}
else if (EmergencySwitchBoundBtn.Contains("Right"))
{
if (currentPosition.ButtonsRight == EmergencySwitchBoundValue)
emergencySwitchControl();
}
else if (EmergencySwitchBoundBtn.Contains("Ex"))
{
if (currentPosition.ExtraButtons[EmergencySwitchBoundValue])
emergencySwitchControl();
}
}
if (cb_NoRobot.Checked)
{
//Check for R2 press (used for TelSurge Freeze)
if (currentPosition.ButtonsRight == 2 && !buttonPressed)
{
buttonPressed = true;
if (isInControl)
{
freezeCommandReceived();
}
if (!isInControl)
{
buttonPressed = true;
feedbackEnabled = !feedbackEnabled;
}
}
if (currentPosition.ButtonsRight == 1 && !buttonPressed)
{
//Check for R1 press (used for TelSurge Emergency Switch)
emergencySwitchControl();
buttonPressed = true;
}
}
//reset buttonPressed (to ensure code runs once per press)
if (currentPosition.ButtonsRight == 0 && buttonPressed)
buttonPressed = false;
if (isMaster || hasMasterData)
{
if (isFrozen)
{
OutputPosition = frozenPosition;
//Don't want to freeze buttons
OutputPosition.ButtonsLeft = currentPosition.ButtonsLeft;
OutputPosition.ButtonsRight = currentPosition.ButtonsRight;
OutputPosition.ExtraButtons = currentPosition.ExtraButtons;
}
else
{
OutputPosition = inControlPosition;
}
}
tb_SendingLeft.Text = "X = " + OutputPosition.LeftX + Environment.NewLine + "Y = " + OutputPosition.LeftY + Environment.NewLine + "Z = " + OutputPosition.LeftZ;
tb_SendingRight.Text = "X = " + OutputPosition.RightX + Environment.NewLine + "Y = " + OutputPosition.RightY + Environment.NewLine + "Z = " + OutputPosition.RightZ;
*/
}
private void setForces(OmniPosition position)
{
try
{
double forceLX = 0;
double forceLY = 0;
double forceLZ = 0;
double forceRX = 0;
double forceRY = 0;
double forceRZ = 0;
if (feedbackEnabled)
{
IntPtr ptr = getpos1();
double[] pos1 = new double[8];
Marshal.Copy(ptr, pos1, 0, 8);
ReleaseMemory(ptr);
IntPtr ptr2 = getpos2();
double[] pos2 = new double[8];
Marshal.Copy(ptr2, pos2, 0, 8);
ReleaseMemory(ptr2);
forceLX = (position.LeftX - (pos1[0] - forceOffset_LX)) / getForceStrength();
forceLY = (position.LeftY - (pos1[1] - forceOffset_LY)) / getForceStrength();
forceLZ = (position.LeftZ - (pos1[2] - forceOffset_LZ)) / getForceStrength();
forceRX = (position.RightX - (pos2[0] - forceOffset_RX)) / getForceStrength();
forceRY = (position.RightY - (pos2[1] - forceOffset_RY)) / getForceStrength();
forceRZ = (position.RightZ - (pos2[2] - forceOffset_RZ)) / getForceStrength();
}
if (cb_noOmnisAttached.Checked)
{
forceLX = position.LeftX;
forceLY = position.LeftY;
forceLZ = position.LeftZ;
forceRX = position.RightX;
forceRY = position.RightY;
forceRZ = position.RightZ;
tb_forces.Text = @"Left" + Environment.NewLine + "X = " + Math.Round(forceLX, 4) + " Y = " + Math.Round(forceLY, 4) + " Z = " + Math.Round(forceLZ, 4) + Environment.NewLine + "Right" + Environment.NewLine + "X = " + Math.Round(forceRX, 4) + " Y = " + Math.Round(forceRY, 4) + " Z = " + Math.Round(forceRZ, 4);
}
else
{
setForce1(forceLX, forceLY, forceLZ);
setForce2(forceRX, forceRY, forceRZ);
tb_forces.Text = @"Left" + Environment.NewLine + "X = " + Math.Round(forceLX, 4) + " Y = " + Math.Round(forceLY, 4) + " Z = " + Math.Round(forceLZ, 4) + Environment.NewLine + "Right" + Environment.NewLine + "X = " + Math.Round(forceRX, 4) + " Y = " + Math.Round(forceRY, 4) + " Z = " + Math.Round(forceRZ, 4);
}
}
catch (Exception ex)
{
ShowError(ex.Message, ex.ToString());
}
}
public OmniPosition Add(OmniPosition pos)
{
return new OmniPosition(
LeftX + pos.LeftX,
LeftY + pos.LeftY,
LeftZ + pos.LeftZ,
Gimbal1Left + pos.Gimbal1Left,
Gimbal2Left + pos.Gimbal2Left,
Gimbal3Left + pos.Gimbal3Left,
ButtonsLeft,
InkwellLeft,
RightX + pos.RightX,
RightY + pos.RightY,
RightZ + pos.RightZ,
Gimbal1Right + pos.Gimbal1Right,
Gimbal2Right + pos.Gimbal2Right,
Gimbal3Right + pos.Gimbal3Right,
ButtonsRight,
InkwellRight,
ExtraButtons
);
}
public bool CheckForEmergencySwitch(OmniPosition Position)
{
bool btnPressed = checkButton(Position, EmergencySwitchBoundBtn, EmergencySwitchBoundValue);
if (!btnPressed && EmergBtnPressed)
{
EmergBtnPressed = false;
return true;
}
EmergBtnPressed = btnPressed;
return false;
}
private void freezeOmniPosition(OmniPosition pos)
{
//make sure this method is executed once
freezePressed = true;
//save current position
frozenPosition = pos;
//Relieve any forces on omnis
feedbackEnabled = false;
setForces(new OmniPosition());
}
private void dataReceived(IAsyncResult ar)
{
try
{
IPEndPoint ep = new IPEndPoint(IPAddress.Any, dataPort);
byte[] arry = dataListener.EndReceive(ar, ref ep);
string json = Encoding.ASCII.GetString(arry);
SocketMessage dataMsg = JsonConvert.DeserializeObject<SocketMessage>(json);
inControlPosition = dataMsg.OmniPosition;
inControlIsFrozen = dataMsg.isFrozen;
}
catch (Exception ex)
{
//Just log error instead of showing, currently too many non-critical errors
logMessage(ex.Message, ex.ToString(), Logging.StatusTypes.Error);
}
hasMasterData = true;
if (isListeningForData)
listenForData();
}
private void switchControl(bool takeControl, string controlIP)
{
if (takeControl)
{
if (btn_Initialize.Enabled || !inControlIsFrozen)
tb_InControl.Text = "You are in control.";
else
{
frozenPosition = inControlPosition;
isFrozen = true;
tb_InControl.Text = "Press R1 button on omni when ready...";
}
tb_InControl.BackColor = Color.Red;
}
else
{
tb_InControl.Text = controlIP + " is in control.";
tb_InControl.BackColor = Color.Green;
isFrozen = false;
}
inControlIP = controlIP;
isInControl = takeControl;
groupBox3.Enabled = !takeControl;
tb_forces.Enabled = !takeControl;
btn_zeroForces.Enabled = !takeControl;
lbl_forceStrength.Enabled = !takeControl;
trb_forceStrength.Enabled = !takeControl;
btn_ReqControl.Enabled = !takeControl;
}
private void showOmniPositions()
{
OmniPosition currentPosition = new OmniPosition(0, 0, 0, 0, 0, 0);
double[] pos1 = { 0, 0, 0, 0, 0, 0, 0, 0 };
double[] pos2 = { 0, 0, 0, 0, 0, 0, 0, 0 };
if (!cb_noOmnisAttached.Checked)
{
try
{
IntPtr ptr = getpos1();
Marshal.Copy(ptr, pos1, 0, 8);
ReleaseMemory(ptr);
IntPtr ptr2 = getpos2();
Marshal.Copy(ptr2, pos2, 0, 8);
ReleaseMemory(ptr2);
currentPosition = new OmniPosition(pos1, pos2);
}
catch (Exception ex)
{
ShowError(ex.Message, ex.ToString());
}
}
lbX1value.Text = "X : " + currentPosition.LeftX.ToString();
lbY1value.Text = "Y : " + currentPosition.LeftY.ToString();
lbZ1value.Text = "Z : " + currentPosition.LeftZ.ToString();
lbGimbal11.Text = "Gimbal 1 : " + currentPosition.Gimbal1Left.ToString();
lbGimbal21.Text = "Gimbal 2 : " + currentPosition.Gimbal2Left.ToString();
lbGimbal31.Text = "Gimbal 3 : " + currentPosition.Gimbal3Left.ToString();
lbButtons1.Text = "Buttons : " + currentPosition.ButtonsLeft.ToString();
lbInk1.Text = "InkWell : " + currentPosition.InkwellLeft.ToString();
lbX2Value.Text = "X : " + currentPosition.RightX.ToString();
lbY2Value.Text = "Y : " + currentPosition.RightY.ToString();
lbZ2Value.Text = "Z : " + currentPosition.RightZ.ToString();
lbGimbal12.Text = "Gimbal 1 : " + currentPosition.Gimbal1Right.ToString();
lbGimbal22.Text = "Gimbal 2 : " + currentPosition.Gimbal2Right.ToString();
lbGimbal32.Text = "Gimbal 3 : " + currentPosition.Gimbal3Right.ToString();
lbButtons2.Text = "Buttons : " + currentPosition.ButtonsRight.ToString();
lbInk2.Text = "InkWell : " + currentPosition.InkwellRight.ToString();
if (isInControl)
{
inControlPosition = currentPosition;
//check for "Freeze" button
if (currentPosition.ButtonsRight == 1 && !freezePressed)
{
if (isFrozen)
{
//Force omnis to frozen position
Thread t = new Thread(new ParameterizedThreadStart(forceOmniPosition));
t.IsBackground = true;
t.Start(frozenPosition);
}
else
{
freezeOmniPosition(currentPosition);
isFrozen = true;
}
freezePressed = true;
}
}
else
{
if (currentPosition.ButtonsRight == 1 && !freezePressed)
{
feedbackEnabled = !feedbackEnabled;
freezePressed = true;
}
}
if (currentPosition.ButtonsRight != 1 && freezePressed)
freezePressed = false;
if (cb_isMaster.Checked || hasMasterData)
{
if (isFrozen)
{
OutputPosition = frozenPosition;
}
else
{
OutputPosition = inControlPosition;
}
}
tb_SendingLeft.Text = "X = " + OutputPosition.LeftX + Environment.NewLine + "Y = " + OutputPosition.LeftY + Environment.NewLine + "Z = " + OutputPosition.LeftZ;
tb_SendingRight.Text = "X = " + OutputPosition.RightX + Environment.NewLine + "Y = " + OutputPosition.RightY + Environment.NewLine + "Z = " + OutputPosition.RightZ;
}
private void UnderlyingTimerTick(object sender, EventArgs e)
{
try
{
//Get current position
OmniPosition currentPos = new OmniPosition();
if( User.HasOmnis )
{
currentPos = User.GetOmniPositions();
}
showOmniPositions(currentPos);
if (User.IsInControl)
{
Surgery.UserInControl = User;
if (telSurgeOnly && User.IsFrozen)
{
Surgery.InControlPosition = User.FrozenPosition;
}
else
Surgery.InControlPosition = currentPos;
if (!User.IsMaster)
{
//Only send data to Master while InControl
SocketData.SendUDPDataTo(IPAddress.Parse(Surgery.Master.MyIPAddress), SocketData.CreateMessageToSend());
messageCount++;
}
//Check for freeze button press
if (telSurgeOnly && this.User.CheckForFreeze(currentPos))
Freeze();
//Display Frozen status
if (User.IsFrozen)
tb_InControl.Text = "You are frozen.";
else
tb_InControl.Text = "You are in control!";
}
else
{
if (User.IsMaster)
{
//check for emergency switch
if (this.User.CheckForEmergencySwitch(currentPos))
emergencySwitchControl();
}
//Check for following
this.User.CheckIfFollowing(currentPos);
if (User.IsFollowing)
User.OmniFollow(Surgery.InControlPosition);
else
User.SetOmniForce(new OmniPosition());
}
if (User.IsMaster)
{
//Master always sends data
if (Surgery.ConnectedClients.Count > 0)
SocketData.MasterSendData();
//Check for "stay alive" from clients
foreach (User u in Surgery.ConnectedClients)
{
if (DateTime.Now.Subtract(u.LastHeardFrom).Seconds > 30)
{
disconnectClient(u);
break;
}
}
}
else
{
//Send "stay alive to Master
if (User.ConnectedToMaster)
{
if (DateTime.Now.Subtract(User.LastHeardFrom).Seconds > 20)
{
TcpClient tCPClient = new TcpClient();
tCPClient.Connect(IPAddress.Parse(Surgery.Master.MyIPAddress), connectionPort);
SocketMessage sm = new SocketMessage(Surgery, User);
SocketData.SendTCPDataTo(tCPClient, SocketData.SerializeObject<SocketMessage>(sm));
User.LastHeardFrom = DateTime.Now;
}
}
}
//Update and show output data (RobotApp)
if (Surgery.InControlPosition != null)
{
OutputPosition = Surgery.InControlPosition;
showOutputPosition();
}
}
catch (Exception ex)
{
UnderlyingTimer.Enabled = false;
ShowError("An error occured during routine program timer. Application must be reset.", ex.Message + " => " + ex.ToString());
}
}
public bool CheckForFreeze(OmniPosition Position)
{
bool btnPressed = checkButton(Position, FreezeBoundBtn, FreezeBoundValue);
if (!btnPressed && FreezeBtnPressed)
{
FreezeBtnPressed = false;
return true;
}
FreezeBtnPressed = btnPressed;
return false;
}
/*
double forceOffset_LX = 0;
double forceOffset_LY = 0;
double forceOffset_LZ = 0;
double forceOffset_RX = 0;
double forceOffset_RY = 0;
double forceOffset_RZ = 0;
bool sendFreezeComd = false;
private OmniPosition inControlPosition;
private OmniPosition frozenPosition;
private OmniPosition positionOffset = new OmniPosition();
public OmniPosition currentPosition;
private bool buttonPressed = false;
private bool feedbackEnabled = false;
//private volatile bool isListeningForData = false;
private volatile string inControlIP;
private volatile bool applicationRunning = true;
string exeFile = (new System.Uri(Assembly.GetEntryAssembly().CodeBase)).AbsolutePath;
private bool EmergencySwitch = false;
public bool networkDataDelayChanged = false;
public string EmergencySwitchBoundBtn;
public int EmergencySwitchBoundValue;
*/
public TelSurgeMain()
{
InitializeComponent();
try
{
this.User = new User(this, connectionPort);
this.AudioConference = new TelSurge.AudioConference(this, audioPort);
this.VideoCapture = new VideoCapture(this, videoPort);
this.Surgery = new Surgery();
this.Markup = new Markup(this, markingsPort);
this.SocketData = new SocketData(this, dataPort);
OutputPosition = new OmniPosition();
TelSurgeMain.CheckForIllegalCrossThreadCalls = false;
fillOmniDDL();
fillAudioDeviceDDL();
HapticForces = new OmniPosition();
SendFrozen = false;
messageCount = 0;
//Set Force Trackbar
//want force divider between 20 and 220
//divider = 220 - trackbarValue
trb_forceStrength.Minimum = 0;
trb_forceStrength.Maximum = 200;
// The TickFrequency property establishes how many positions are between each tick-mark.
trb_forceStrength.TickFrequency = 20;
// The LargeChange property sets how many positions to move if the bar is clicked on either side of the slider.
trb_forceStrength.LargeChange = 2;
// The SmallChange property sets how many positions to move if the keyboard arrows are used to move the slider.
trb_forceStrength.SmallChange = 1;
//set initial value of trackbar
trb_forceStrength.Value = 170;
CaptureImageBox.FunctionalMode = Emgu.CV.UI.ImageBox.FunctionalModeOption.Minimum;
}
catch (Exception ex)
{
ShowError(ex.Message, ex.ToString());
}
}
public void CheckIfFollowing(OmniPosition Position)
{
bool btnPressed = checkButton(Position, FollowingBoundBtn, FollowingBoundValue);
if (!btnPressed && FollowBtnPressed)
{
FollowBtnPressed = false;
IsFollowing = !IsFollowing;
}
FollowBtnPressed = btnPressed;
}
public OmniPosition Subtract(OmniPosition pos)
{
return new OmniPosition(
LeftX - pos.LeftX,
LeftY - pos.LeftY,
LeftZ - pos.LeftZ,
Gimbal1Left - pos.Gimbal1Left,
Gimbal2Left - pos.Gimbal2Left,
Gimbal3Left - pos.Gimbal3Left,
ButtonsLeft,
InkwellLeft,
RightX - pos.RightX,
RightY - pos.RightY,
RightZ - pos.RightZ,
Gimbal1Right - pos.Gimbal1Right,
Gimbal2Right - pos.Gimbal2Right,
Gimbal3Right - pos.Gimbal3Right,
ButtonsRight,
InkwellRight,
ExtraButtons
);
}
//Construct Form1
public Form1()
{
InitializeComponent();
try
{
OutputPosition = new OmniPosition();
Form1.CheckForIllegalCrossThreadCalls = false;
fillOmniDDL();
fillAudioDeviceDDL();
//Set Force Trackbar
//want force divider between 20 and 220
//divider = 220 - trackbarValue
trb_forceStrength.Minimum = 0;
trb_forceStrength.Maximum = 200;
// The TickFrequency property establishes how many positions are between each tick-mark.
trb_forceStrength.TickFrequency = 20;
// The LargeChange property sets how many positions to move if the bar is clicked on either side of the slider.
trb_forceStrength.LargeChange = 2;
// The SmallChange property sets how many positions to move if the keyboard arrows are used to move the slider.
trb_forceStrength.SmallChange = 1;
//set initial value of trackbar
trb_forceStrength.Value = 170;
captureImageBox.FunctionalMode = Emgu.CV.UI.ImageBox.FunctionalModeOption.Minimum;
//try to set up capture from default camera
_capture = new Capture();
_capture.SetCaptureProperty(Emgu.CV.CvEnum.CAP_PROP.CV_CAP_PROP_FPS, 30);
_capture.ImageGrabbed += ProcessFrame;
}
catch (NullReferenceException nrex)
{
if (nrex.HResult == -2147467261)
ShowError("Cannot connect to default camera!", "No camera could be found on this machine, (" + Environment.MachineName + ").");
else
ShowError(nrex.Message, nrex.ToString());
}
catch (Exception ex)
{
ShowError(ex.Message, ex.ToString());
}
}