public MovementHexapod()
{
//---Initializing modules---//
this.extender = new GTM.GHIElectronics.Extender(11);
this.rs485 = new GTM.GHIElectronics.RS485(this.extender.ExtenderSocketNumber);
serie = new GT.Interfaces.Serial(GT.Socket.GetSocket(11, true, null, string.Empty), 200000, GT.Interfaces.Serial.SerialParity.None, GT.Interfaces.Serial.SerialStopBits.One, 8, GT.Interfaces.Serial.HardwareFlowControl.NotRequired, null);
serie.Open();
S11P3dirAx12 = extender.SetupDigitalOutput(GT.Socket.Pin.Three, true); //False pour lire, True pour écrire
S11P3dirAx12.Write(true);
}
void ProgramStarted()
{
// Use Debug.Print to show messages in Visual Studio's "Output" window during debugging.
Debug.Print("Program Started");
displayText("Debug: ", GT.Color.Red);
serie = new GT.Interfaces.Serial(GT.Socket.GetSocket(11, true, null, string.Empty), 200000, GT.Interfaces.Serial.SerialParity.None, GT.Interfaces.Serial.SerialStopBits.One, 8, GT.Interfaces.Serial.HardwareFlowControl.NotRequired, null);
serie.Open();
xBee.Configure(115200, GT.Interfaces.Serial.SerialParity.None, GT.Interfaces.Serial.SerialStopBits.One, 8);
xBee.SerialLine.Open();
xBee.SerialLine.DataReceived += new GT.Interfaces.Serial.DataReceivedEventHandler(SerialLine_DataReceived);
button.ButtonPressed += new Button.ButtonEventHandler(button_ButtonPressed);
button.ButtonReleased += new Button.ButtonEventHandler(button_ButtonReleased);
S11P3dirAx12 = extender.SetupDigitalOutput(GT.Socket.Pin.Three, true); //False pour lire, True pour écrire
S11P3dirAx12.Write(true);
//Output to see if the controller has received the frame
xBee.SerialLine.WriteLine("Connected");
}
void SerialLine_DataReceived(GT.Interfaces.Serial sender, System.IO.Ports.SerialData data)
{
//Communication avec l'IHM en xBee
var font = Resources.GetFont(Resources.FontResources.NinaB);
string msg = receiveBuffXbee();
string rotate = "tourner";
string speed = "vitesse";
string avancer = "avancer";
string reculer = "reculer";
string droite = "droite";
string gauche = "gauche";
bool command_rotate = true;
bool command_speed = true;
bool command_avancer = true;
bool command_reculer = true;
bool command_droite = true;
bool command_gauche = true;
for (int i = 0; i < rotate.Length; i++)
{
if ((msg[i] != rotate[i]) || (msg.Length > 10))
{
command_rotate = false;
break;
}
}
for (int i = 0; i < speed.Length; i++)
{
if ((msg[i] != speed[i]) || (msg.Length > 10))
{
command_speed = false;
break;
}
}
for (int i = 0; i < avancer.Length; i++)
{
if ((msg[i] != avancer[i] || (msg.Length > 10)))
{
command_avancer = false;
break;
}
}
for (int i = 0; i < reculer.Length; i++)
{
if ((msg[i] != reculer[i] || (msg.Length > 10)))
{
command_reculer = false;
break;
}
}
for (int i = 0; i < droite.Length; i++)
{
if ((msg[i] != droite[i] || (msg.Length > 10)))
{
command_droite = false;
break;
}
}
for (int i = 0; i < gauche.Length; i++)
{
if ((msg[i] != gauche[i] || (msg.Length > 10)))
{
command_gauche = false;
break;
}
}
if ((command_gauche == true) && (command_speed == false) && (command_rotate == false))
{
int value = System.Convert.ToInt16(msg.Substring(6));
displayText("Gauche", GT.Color.White);
turnLeft();
Thread.Sleep(200);
}
if ((command_droite == true) && (command_speed == false) && (command_rotate == false))
{
int value = System.Convert.ToInt16(msg.Substring(6));
displayText("Droite" + value, GT.Color.White);
turnRight();
Thread.Sleep(200);
}
if ((command_reculer == true) && (command_speed == false) && (command_rotate == false))
{
int value = System.Convert.ToInt16(msg.Substring(7));
displayText("Reculer", GT.Color.White);
goBackward();
Thread.Sleep(200);
}
if ((command_avancer == true) && (command_speed == false) && (command_rotate == false))
{
int value = System.Convert.ToInt16(msg.Substring(7));
displayText("Avancer", GT.Color.White);
goForward();
Thread.Sleep(200);
}
if ((command_rotate == true) && (command_speed == false))
{
int value = System.Convert.ToInt16(msg.Substring(7));
displayText("Rotation: " + value + " degres", GT.Color.White);
Thread.Sleep(200);
}
if ((command_speed == true) && (command_rotate == false))
{
int value = System.Convert.ToInt16(msg.Substring(7));
displayText("Speed: " + value + " ms", GT.Color.White);
setSpeed(value, 0x01);
Thread.Sleep(10);
setSpeed(value, 0x02);
Thread.Sleep(200);
}
}
