public AutonomousBehaviour(IMU440 IMU1, Microcontroller uC1, PositionTracker pos1, ThrustManager lev1, log ERRORLOG)
{
// TODO: Complete member initialization
this.IMU = IMU1;
this.uC = uC1;
this.pos = pos1;
this.lev = lev1;
this.ERRORLOG = ERRORLOG;
}
//public static Sonar sonar;
//public static AutonomousBehaviour auto;
static void Main(string[] args)
{
//we might consider switching the COM port references over to commandline input
bool is_init = false;
bool init_imu = false;
bool init_due = false;
int _try = 0;
ERRORLOG = new log();
Dictionary <string, string> serials = parseSerialLocations();
ERRORLOG.LOG(" Starting Program", 0);
while (!is_init && _try < 5)
{
try
{
//externals
ERRORLOG.LOG("F**k you jeff", 0);
ERRORLOG.LOG("Initialization: " + _try.ToString() + " of 6", 0);
if (!init_imu)
{
IMU = new IMU440(serials["IMU"], 57600, ERRORLOG, false);
}
init_imu = true;
ERRORLOG.LOG("Initialized IMU", 0);
if (!init_due)
{
uC = new Microcontroller(serials["DUE"], 115200, ERRORLOG);
}
init_due = true;
ERRORLOG.LOG("Initialized DUE", 0);
//sonar will make an appearance soon.
//sonar = new Sonar(serials["SONAR"], log);//port
//internals
pos = new PositionTracker(IMU, uC, ERRORLOG);
lev = new ThrustManager(IMU, uC, pos, ERRORLOG);
ERRORLOG.LOG("Initialized ThrustManager", 0);
//auto = new AutonomousBehaviour(IMU,uC,pos,lev,ERRORLOG);
is_init = true;
}
catch (Exception e)
{
ERRORLOG.LOG(e.Message, 0);
Thread.Sleep(5000);
_try++;
is_init = false;
}
}
//this is because communications issues:
for (int l = 0; l < 15; l++)
{
uC.sensorRequest();
}
while (is_init)
{
}
ERRORLOG.LOG("Exiting", 0);
//while (true)
//{//testing driver
// Console.WriteLine("pitch: " + Math.Round(IMU.pitchAngle*(180/Math.PI)));
// Console.WriteLine("roll: " + Math.Round(IMU.rollAngle * (180 /Math.PI)));
// Console.WriteLine("tp: " + Math.Round(lev.Tp,4));
// Console.WriteLine("tr: " + Math.Round(lev.Tr,4));
// Console.WriteLine(IMU.boardTemp);
// Thread.Sleep(200);
// Console.Clear();
//}
}
