private void button1_Click(object sender, EventArgs e)
{
nxt = new McNxtBrick(NxtCommLinkType.Bluetooth, Convert.ToByte(Convert.ToInt16(textBox1.Text)));
nxt.Sensor4 = new NxtUltrasonicSensor();
nxt.Sensor4.PollInterval = 50;
nxt.Connect();
if (!nxt.IsConnected)
{
label1.Text = "Connection Error!";
return;
}
else
{
nxt.MotorB = new McNxtMotor();
nxt.MotorC = new McNxtMotor();
motors = new McNxtMotorSync(nxt.MotorB, nxt.MotorC);
((NxtUltrasonicSensor)nxt.Sensor4).PollInterval = 20;
((NxtUltrasonicSensor)nxt.Sensor4).Poll();
label1.Text = "Connected";
button1.Enabled = false;
}
while (true)
{
MainLoop();
}
}
//public bool Emulate
//{
// get { return _emulate; }
// set
// {
// _emulate = value;
// if (IsConnected)
// {
// Disconnect();
// }
// if (_emulate)
// {
// StartReadingSensorValues();
// }
// else
// {
// StopReadingSensorValues();
// }
// }
//}
//private bool _emulate;
/// <summary>
/// Connect to the NXT Brick.
/// </summary>
/// <param name="comPort">The COM Port associated with the Bluetooth connection.
/// If left blank, uses the value of the 'ComPort' property.</param>
public void Connect(string comPort = "")
{
if (EmulationMode)
{
Name = "NXT Robot Emulator";
BatteryLevelMillivolts = _randomNoGenerator.Next(7000, 7999);
SetBatteryLevelUpdateTimer(3);
IsConnected = true;
return;
}
SetComPort(comPort);
// create new NxtBrick obj and connect
_brick = new McNxtBrick(NxtCommLinkType.Bluetooth, ComPort);
try
{
_brick.Connect();
}
catch (Exception ex)
{
MessageBox.Show("Error connecting. " + ex.Message);
return;
}
// if success, do necessary prep stuff here
BatteryLevelMillivolts = _brick.BatteryLevel;
Name = _brick.Name;
SetBatteryLevelUpdateTimer(3);
InitializeAllSensors();
//StartReadingSensorValues();
// update self and inform everybody else
IsConnected = _brick.IsConnected;
}
static void SetupBluetoothConnection()
{
Console.WriteLine("\n\nEnter your Bluetooth COM-Port (Default: 40)");
byte comport = Convert.ToByte(Console.ReadLine());
brick = new McNxtBrick(NxtCommLinkType.Bluetooth, comport);
Console.WriteLine("\nBluetooth connection set up at port " + comport + ".");
}
public RobotEngineMc()
{
_brick = new McNxtBrick(NxtCommLinkType.Bluetooth, Config.SerialPortNo)
{
MotorA = new McNxtMotor(),
MotorB = new McNxtMotor()
};
_motorSync = new McNxtMotorSync(_brick.MotorA, _brick.MotorB);
}
private Timer _batteryLevelUpdateTimer; // Timer to control time period at which the
// battery level property should be updated.
/// <summary>
/// Connect to the NXT Brick.
/// </summary>
/// <param name="comPort">The COM Port associated with the Bluetooth connection.
/// If left blank, uses the value of the 'ComPort' property.</param>
public void Connect(string comPort = "")
{
// update the ComPort property
if (comPort != "")
{
ComPort = byte.Parse(comPort.Remove(0, 3));
}
// create new NxtBrick obj and connect
_brick = new McNxtBrick(NxtCommLinkType.Bluetooth, ComPort);
_brick.Connect();
// update self and inform everybody else
IsConnected = _brick.IsConnected;
if (ConnectionStatusHasChanged != null)
{
ConnectionStatusHasChanged(this, new EventArgs());
}
// if success, do necessary prep stuff here
SetBatteryLevelUpdateTimer(1);
InitializeAllSensors();
//StartReadingSensorValues(false);
}
//Brick connection procedure logic
private void button_connect_Click(object sender, EventArgs e)
{
if (!isConnectedToBrick)
{
byte COMport = byte.Parse(COMportInput.Text);
if (RB_McRXE.Checked)
{
//Create Motor Control NXT Brick and Bluetooth use USB to communicate with it.
if (RB_Bluetooth.Checked)
{
McBrick = new McNxtBrick(NxtCommLinkType.Bluetooth, COMport);
}
//Create Motor Control NXT Brick, and use USB to communicate with it.
if (RB_USB.Checked)
{
brick = new McNxtBrick(NxtCommLinkType.USB, COMport);
}
// Create a Motor Control motor.
McMotorA = new McNxtMotor();
McMotorB = new McNxtMotor();
McMotorC = new McNxtMotor();
//Synched motors
McMotorPair = new McNxtMotorSync(McMotorB, McMotorC);
// Attach it to port A of the NXT brick.
McBrick.MotorA = McMotorA;
McBrick.MotorB = McMotorB;
McBrick.MotorC = McMotorC;
// Connect to the NXT.
McBrick.Connect();
if (!McBrick.IsMotorControlRunning())
{
McBrick.StartMotorControl();
}
motorControlActive = true;
}
else
{
//Create NXT Brick and Bluetooth use USB to communicate with it.
if (RB_Bluetooth.Checked)
{
NxtBrick brick = new NxtBrick(NxtCommLinkType.Bluetooth, COMport);
}
// Create a NXT brick, and use USB to communicate with it.
if (RB_USB.Checked)
{
NxtBrick brick = new NxtBrick(NxtCommLinkType.USB, COMport);
}
// Create a motor.
motorA = new NxtMotor();
motorB = new NxtMotor();
motorC = new NxtMotor();
// Attach it to port A of the NXT brick.
brick.MotorA = motorA;
brick.MotorB = motorB;
brick.MotorC = motorC;
// Connect to the NXT.
brick.Connect();
}
ConnectedText.Visible = true;
isConnectedToBrick = true;
}
}
static void SetupUSBConnection()
{
brick = new McNxtBrick(NxtCommLinkType.USB, 0);
Console.WriteLine("\nUSB connection set up.");
}