/// <summary>
/// <para>Constructor.</para>
/// </summary>
/// <remarks>
/// <para>Introduced with v2.0 of the framework.</para>
/// </remarks>
/// <param name="commLinkType">Indicates whether Bluetooth or USB should be used for the communication with the NXT brick.</param>
/// <param name="serialPortNo">The COM port used. Only relevant for Bluetooth links.</param>
public NxtBrick(NxtCommLinkType commLinkType, byte serialPortNo)
: this()
{
switch (commLinkType)
{
case NxtCommLinkType.Bluetooth:
CommLink = new NxtBluetoothConnection(serialPortNo);
break;
case NxtCommLinkType.USB:
CommLink = new NxtUsbConnection();
break;
default:
throw new ArgumentException("Unknown commLinkType.");
}
}
/// <summary>
/// <para>Constructor.</para>
/// </summary>
/// <remarks>
/// <para>Introduced with v2.0 of the framework.</para>
/// </remarks>
/// <param name="commLinkType">Indicates whether Bluetooth or USB should be used for the communication with the NXT brick.</param>
/// <param name="serialPortNo">The COM port used. Only relevant for Bluetooth links.</param>
public NxtBrick(NxtCommLinkType commLinkType, byte serialPortNo)
: this()
{
switch (commLinkType)
{
case NxtCommLinkType.Bluetooth:
CommLink = new NxtBluetoothConnection(serialPortNo);
break;
case NxtCommLinkType.USB:
CommLink = new NxtUsbConnection();
break;
default:
throw new ArgumentException("Unknown commLinkType.");
}
}
/*
* Connects to the NXTBrick with the given comport using the given connectiontype
*/
public bool ConnectToDevice(NxtCommLinkType connectionType, byte comPort)
{
brick = new NxtBrick(connectionType, comPort);
brick.MotorA = new NxtMotor();
brick.MotorC = new NxtMotor();
motorPair = new NxtMotorSync(brick.MotorA, brick.MotorC);
try
{
brick.Connect();
return true;
}
catch
{
return false;
}
}
/// <summary>
/// <para>Constructor.</para>
/// </summary>
/// <remarks>
/// <para>It requires that MotorControl is downloaded to the NXT block and is running.</para>
/// </remarks>
/// <param name="commLinkType">Indicates whether Bluetooth or USB should be used for the communication with the NXT brick.</param>
/// <param name="serialPortNo">The COM port used. Only relevant for Bluetooth links.</param>
public McNxtBrick(NxtCommLinkType commLinkType, byte serialPortNo)
: base(commLinkType, serialPortNo)
{
}
/// <summary>
/// <para>Constructor.</para>
/// </summary>
/// <remarks>
/// <para>It requires that MotorControl is downloaded to the NXT block and is running.</para>
/// </remarks>
/// <param name="commLinkType">Indicates whether Bluetooth or USB should be used for the communication with the NXT brick.</param>
/// <param name="serialPortNo">The COM port used. Only relevant for Bluetooth links.</param>
public McNxtBrick(NxtCommLinkType commLinkType, byte serialPortNo) :
base(commLinkType, serialPortNo)
{
}
private NxtBrick ConnectBrick(int brickNo, NxtCommLinkType linkType, int comPort)
{
var brick = new NxtBrick(linkType, (byte)comPort);
if (linkType == NxtCommLinkType.Bluetooth) {
var attempts = 3;
for (int attempt = 0; attempt < attempts; attempt++) {
Logger.Log("Connecting to brick {0} on port {1}. \t\tAttempt {2} of {3}...", brickNo, comPort,
attempt + 1, attempts);
try {
brick.Connect();
Logger.Log("\tBrick {0} successfully connected (port: {1})", brickNo, comPort);
break;
}
catch (IOException) {
if (attempt + 1 == attempts)
throw;
}
}
}
Logger.Log("Connected to brick {0}", brickNo);
return brick;
}
public JointMotorConfig(int comPort1, NxtCommLinkType link1, int comPort2, NxtCommLinkType link2, int comPort3, NxtCommLinkType link3)
{
ComPorts = new[] {comPort1, comPort2, comPort3};
LinkTypes = new[] {link1, link2, link3};
}
