//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 LinkMotorAxis()
{
Console.WriteLine("\nYou now have to specify which Motor represents which 3-dimensional Axis.");
Console.WriteLine("Enter ('A'/'B'/'C') the Motor controlling X-Axis (left-right) movement:");
MotorXaxis = Console.ReadKey().KeyChar;
Console.WriteLine("\nEnter ('A'/'B'/'C') the Motor controlling Y-Axis (foward-backward) movement: (This should be the axis that pushes the drill foward)");
MotorYaxis = Console.ReadKey().KeyChar;
Console.WriteLine("\nEnter ('A'/'B'/'C') the Motor controlling Z-Axis (up-down) movement:");
MotorZaxis = Console.ReadKey().KeyChar;
Xmotor = new McNxtMotor();
Ymotor = new McNxtMotor();
Zmotor = new McNxtMotor();
switch (MotorXaxis)
{
case 'a':
brick.MotorA = Xmotor;
XmotorPort = NxtMotorPort.PortA;
break;
case 'b':
brick.MotorB = Xmotor;
XmotorPort = NxtMotorPort.PortB;
break;
case 'c':
brick.MotorC = Xmotor;
XmotorPort = NxtMotorPort.PortC;
break;
}
switch (MotorYaxis)
{
case 'a':
brick.MotorA = Ymotor;
YmotorPort = NxtMotorPort.PortA;
break;
case 'b':
brick.MotorB = Ymotor;
YmotorPort = NxtMotorPort.PortB;
break;
case 'c':
brick.MotorC = Ymotor;
YmotorPort = NxtMotorPort.PortC;
break;
}
switch (MotorZaxis)
{
case 'a':
brick.MotorA = Zmotor;
ZmotorPort = NxtMotorPort.PortA;
break;
case 'b':
brick.MotorB = Zmotor;
ZmotorPort = NxtMotorPort.PortB;
break;
case 'c':
brick.MotorC = Zmotor;
ZmotorPort = NxtMotorPort.PortC;
break;
}
}
