public LeftHandPositions(EZ_B.EZB ezb)
{
_leftHandPosition = new AutoPosition(ezb, "My LeftHand Positions");
// Add servos
_leftHandPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D16);
_leftHandPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D17);
_leftHandPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D12);
_leftHandPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D13);
_leftHandPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D14);
_leftHandPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D3);
_leftHandPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D2);
_leftHandPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D7);
_leftHandPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D8);
_leftHandPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D4);
_leftHandPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D5);
_leftHandPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D9);
_leftHandPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D6);
_leftHandPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D1);
_leftHandPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D0);
_leftHandPosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D18);
// *******************************************************
// ** Init Frames **
// *******************************************************
// Lefthandup
_leftHandPosition.Config.AddFrame("Lefthandup", "a666fd3d-e268-4687-ae22-b8fa2d302f31", new int[] { 85, 85, 85, 85, 85, 88, 10, 10, 85, 86, 85, 85, 85, 85, 85, 85 });
// Lefthanddown
_leftHandPosition.Config.AddFrame("Lefthanddown", "e12aef86-3342-48fb-a669-9d001d5ef7c3", new int[] { 85, 85, 85, 85, 85, 170, 10, 10, 85, 170, 85, 85, 85, 85, 85, 85 });
// *******************************************************
// ** Init Actions **
// *******************************************************
// Lefthanddown
_leftHandPosition.Config.AddAction(
new AutoPositionAction(
"Lefthanddown",
"cad0fca2-9143-4461-a450-b918ce2f350c",
true,
false,
new AutoPositionActionFrame[] {
new AutoPositionActionFrame("e12aef86-3342-48fb-a669-9d001d5ef7c3", 25, 3, -1),
},
AutoPositionAction.ActionTypeEnum.NA));
// Lefthandup
_leftHandPosition.Config.AddAction(
new AutoPositionAction(
"Lefthandup",
"74a1b571-1945-4ebb-ae2e-44ff634c544d",
true,
false,
new AutoPositionActionFrame[] {
new AutoPositionActionFrame("a666fd3d-e268-4687-ae22-b8fa2d302f31", 25, 3, -1),
},
AutoPositionAction.ActionTypeEnum.NA));
}
/*
* Stop the bot.
* @param move_vec Reference to array holding movmement vector data
* @param bot Reference to the EZB object to send movement commands to
*/
public static void stop(double[] move_vec, EZB bot)
{
// update vector to zero
move_vec[SURGE] = 0;
move_vec[YAW] = 0;
// pass commands to bot
updateSpeed(0, 0, bot);
}
public WavePositions(EZ_B.EZB ezb)
{
_wavePosition = new AutoPosition(ezb, "My Auto Positions");
// Add servos
_wavePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D16);
_wavePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D17);
_wavePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D12);
_wavePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D13);
_wavePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D14);
_wavePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D3);
_wavePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D2);
_wavePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D7);
_wavePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D8);
_wavePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D4);
_wavePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D5);
_wavePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D9);
_wavePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D6);
_wavePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D1);
_wavePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D0);
_wavePosition.Config.AddServo(EZ_B.Servo.ServoPortEnum.D18);
// *******************************************************
// ** Init Frames **
// *******************************************************
// STAND
_wavePosition.Config.AddFrame("STAND", "e3333875-865c-4b9f-a35f-589ef7b56abb", new int[] { 90, 90, 90, 90, 90, 180, 1, 30, 60, 150, 120, 90, 90, 90, 90, 90 });
// Wave1
_wavePosition.Config.AddFrame("Wave1", "ae98a3f5-d354-4c10-aa40-010fc6514e21", new int[] { 90, 90, 90, 90, 90, 13, 2, 27, 58, 161, 119, 90, 90, 65, 97, 90 });
// Wave2
_wavePosition.Config.AddFrame("Wave2", "fbf3b358-48dc-4a62-a75c-ebbe7d419279", new int[] { 90, 90, 90, 90, 90, 13, 11, 35, 51, 153, 75, 90, 53, 73, 82, 90 });
// *******************************************************
// ** Init Actions **
// *******************************************************
// Wave
_wavePosition.Config.AddAction(
new AutoPositionAction(
"Wave",
"78f5fb25-4eef-4966-97ba-662a9e761b4e",
true,
false,
new AutoPositionActionFrame[] {
new AutoPositionActionFrame("ae98a3f5-d354-4c10-aa40-010fc6514e21", 5, 7, 0),
new AutoPositionActionFrame("fbf3b358-48dc-4a62-a75c-ebbe7d419279", 25, 3, -1),
new AutoPositionActionFrame("ae98a3f5-d354-4c10-aa40-010fc6514e21", 25, 3, -1),
new AutoPositionActionFrame("fbf3b358-48dc-4a62-a75c-ebbe7d419279", 25, 3, -1),
new AutoPositionActionFrame("ae98a3f5-d354-4c10-aa40-010fc6514e21", 25, 3, -1),
new AutoPositionActionFrame("fbf3b358-48dc-4a62-a75c-ebbe7d419279", 25, 3, -1),
new AutoPositionActionFrame("e3333875-865c-4b9f-a35f-589ef7b56abb", 25, 5, -1),
},
AutoPositionAction.ActionTypeEnum.NA));
}
protected internal Soundv4(EZB ezb)
{
_ezb = ezb;
_threadAudio.DoWork += _threadAudio_DoWork;
_threadAudio.RunWorkerCompleted += _threadAudio_RunWorkerCompleted;
_threadProgress.DoWork += _threadProgress_DoWork;
}
/*
* Rotate the bot right.
* @param move_vec Reference to array holding movmement vector data
* @param bot Reference to the EZB object to send movement commands to
*/
public static void right(double[] move_vec, EZB bot)
{
// update vector, clamp it to range
move_vec[YAW] += 1;
if (move_vec[YAW] > 1)
{
move_vec[YAW] = 1;
}
// pass commands to bot
updateSpeed(move_vec[SURGE], move_vec[YAW], bot);
}
/*
* Move the bot backwards.
* @param move_vec Reference to array holding movmement vector data
* @param bot Reference to the EZB object to send movement commands to
*/
public static void reverse(double[] move_vec, EZB bot)
{
// update vector, clamp it to range
move_vec[SURGE] -= 1;
if (move_vec[SURGE] < -1)
{
move_vec[SURGE] = -1;
}
// pass commands to bot
updateSpeed(move_vec[SURGE], move_vec[YAW], bot);
}
/// <summary>
/// Create an instance of the AutoPosition Control
/// </summary>
public HT16K33Animator(EZB ezb, string name)
{
Name = name;
_ezb = ezb;
_ht = new HT16K33(ezb);
_tf = new EZBGWorker(string.Format("HT16K33 Animator for {0}", name));
_tf.DoWork += _tf_DoWork;
_tf.RunWorkerCompleted += _tf_RunWorkerCompleted;
}
/// <summary>
/// Create an instance of the AutoPosition Control
/// </summary>
public RGBAnimator(EZB ezb, string name)
{
Name = name;
_ezb = ezb;
_eyes = new RGBEyes(_ezb);
_tf = new EZBGWorker(string.Format("RGB Animator for: {0}", name));
_tf.DoWork += _tf_DoWork;
_tf.RunWorkerCompleted += _tf_RunWorkerCompleted;
}
public HT16K33(EZB ezb)
{
_ezb = ezb;
for (int row = 0; row < 8; row++)
{
for (int col = 0; col < 8; col++)
{
_matrix[row, col] = false;
}
}
}
/*
* Helper function. Calling this function will send the commands
* to move the bot. To be precise, it sends commands to update
* the state of the signals being passed to the tread servos.
* Values of the surge and yaw axes are passed as floating point
* numbers in the interval [-1, 1].
* @param surge Speed on the surge axis (forward/reverse translation)
* @param yaw Speed on the yaw axis (right/left rotation)
* @param _ezb Reference to EZB object accepting move commands
*/
private static void updateSpeed(double surge, double yaw, EZB _ezb)
{
// surge of treads as integers in interval [-255, 255]
int port, starbrd;
// byte value of speed of tread to pass to EZ_B.Movement functions
byte port_speed, starbrd_speed;
port = adjustSpeed(surge, yaw, PORT);
starbrd = adjustSpeed(surge, yaw, STARBOARD);
// configure HBridge of tread for the desired direction
if (port < 0)
{
_ezb.Digital.SetDigitalPort(_ezb.Movement.HBridgeLeftWheelTriggerA, false);
_ezb.Digital.SetDigitalPort(_ezb.Movement.HBridgeLeftWheelTriggerB, true);
port_speed = (byte)(-1 * port);
}
else if (port > 0)
{
_ezb.Digital.SetDigitalPort(_ezb.Movement.HBridgeLeftWheelTriggerA, true);
_ezb.Digital.SetDigitalPort(_ezb.Movement.HBridgeLeftWheelTriggerB, false);
port_speed = (byte)(port);
}
else
{
_ezb.Digital.SetDigitalPort(_ezb.Movement.HBridgeLeftWheelTriggerA, false);
_ezb.Digital.SetDigitalPort(_ezb.Movement.HBridgeLeftWheelTriggerB, false);
port_speed = 0;
}
if (starbrd < 0)
{
_ezb.Digital.SetDigitalPort(_ezb.Movement.HBridgeRightWheelTriggerA, false);
_ezb.Digital.SetDigitalPort(_ezb.Movement.HBridgeRightWheelTriggerB, true);
starbrd_speed = (byte)(-1 * starbrd);
}
else if (starbrd > 0)
{
_ezb.Digital.SetDigitalPort(_ezb.Movement.HBridgeRightWheelTriggerA, true);
_ezb.Digital.SetDigitalPort(_ezb.Movement.HBridgeRightWheelTriggerB, false);
starbrd_speed = (byte)(starbrd);
}
else
{
_ezb.Digital.SetDigitalPort(_ezb.Movement.HBridgeRightWheelTriggerA, false);
_ezb.Digital.SetDigitalPort(_ezb.Movement.HBridgeRightWheelTriggerB, false);
starbrd_speed = 0;
}
// move the damn thing
_ezb.Movement.SetSpeed(port_speed, starbrd_speed);
}
/// <summary>
/// Connect and begin receiving the camera stream
/// </summary>
public async Task Start(EZB ezb, string ipAddress, int port)
{
stopWorker();
_ezb = ezb;
await _tcpClient.Connect(ipAddress, port, 3000);
_tcpClient.ReceiveTimeout = 3000;
_tcpClient.SendTimeout = 3000;
startWorker();
}
public HeadLeftUpPositions(EZ_B.EZB ezb)
{
_headleftup = new AutoPosition(ezb, "My Auto Positions");
// Add servos
_headleftup.Config.AddServo(EZ_B.Servo.ServoPortEnum.D16);
_headleftup.Config.AddServo(EZ_B.Servo.ServoPortEnum.D17);
_headleftup.Config.AddServo(EZ_B.Servo.ServoPortEnum.D12);
_headleftup.Config.AddServo(EZ_B.Servo.ServoPortEnum.D13);
_headleftup.Config.AddServo(EZ_B.Servo.ServoPortEnum.D14);
_headleftup.Config.AddServo(EZ_B.Servo.ServoPortEnum.D3);
_headleftup.Config.AddServo(EZ_B.Servo.ServoPortEnum.D2);
_headleftup.Config.AddServo(EZ_B.Servo.ServoPortEnum.D7);
_headleftup.Config.AddServo(EZ_B.Servo.ServoPortEnum.D8);
_headleftup.Config.AddServo(EZ_B.Servo.ServoPortEnum.D4);
_headleftup.Config.AddServo(EZ_B.Servo.ServoPortEnum.D5);
_headleftup.Config.AddServo(EZ_B.Servo.ServoPortEnum.D9);
_headleftup.Config.AddServo(EZ_B.Servo.ServoPortEnum.D6);
_headleftup.Config.AddServo(EZ_B.Servo.ServoPortEnum.D1);
_headleftup.Config.AddServo(EZ_B.Servo.ServoPortEnum.D0);
_headleftup.Config.AddServo(EZ_B.Servo.ServoPortEnum.D18);
// *******************************************************
// ** Init Frames **
// *******************************************************
// Normal
_headleftup.Config.AddFrame("Normal", "984bd3d4-5a28-4239-93af-4ec541d4f915", new int[] { 90, 90, 90, 90, 90, 180, 180, 180, 90, 180, 90, 90, 90, 90, 90, 90 });
// headleftup
_headleftup.Config.AddFrame("headleftup", "59cd8a05-0fcf-4128-a37f-89a912b53155", new int[] { 90, 90, 90, 90, 90, 180, 180, 180, 90, 180, 90, 90, 90, 80, 170, 90 });
// *******************************************************
// ** Init Actions **
// *******************************************************
// headleftup
_headleftup.Config.AddAction(
new AutoPositionAction(
"headleftup",
"3aefa4f5-7b39-4cfa-bce1-da141ca28cf7",
true,
false,
new AutoPositionActionFrame[] {
new AutoPositionActionFrame("984bd3d4-5a28-4239-93af-4ec541d4f915", 25, 3, -1),
new AutoPositionActionFrame("59cd8a05-0fcf-4128-a37f-89a912b53155", 25, 3, -1)
},
AutoPositionAction.ActionTypeEnum.NA));
}
internal RGBEyes(EZB ezb)
{
_ezb = ezb;
List <byte> b = new List <byte>();
for (int x = 0; x < INDEX_MAX; x++)
{
b.Add(0);
}
_reds = b.ToArray();
_greens = b.ToArray();
_blues = b.ToArray();
}
protected internal Servo(EZB ezb)
{
_ezb = ezb;
int size = Enum.GetNames(typeof(ServoPortEnum)).Length;
_servoLastMoveTime = new DateTime[size];
_servoPositions = new int[size];
_servoReleased = new bool[size];
_servoSpeeds = new int[size];
_servoFineTune = new int[size];
_servoMin = new int[size];
_servoMax = new int[size];
for (int i = 0; i < _servoPositions.Length; i++)
{
_servoLastMoveTime[i] = DateTime.Now;
_servoPositions[i] = 0;
_servoReleased[i] = true;
_servoSpeeds[i] = 0;
_servoFineTune[i] = 0;
_servoMax[i] = int.MaxValue;
_servoMin[i] = int.MinValue;
}
}
protected internal MMA7455(EZB ezb)
{
_ezb = ezb;
}
protected internal MusicSynth(EZB ezb)
{
_ezb = ezb;
}
internal EZBv4Manager(EZB ezb)
{
_ezb = ezb;
}
public AutoPositions(EZ_B.EZB ezb)
{
_ezb = ezb;
}
protected internal BV4113(EZB ezb)
{
_ezb = ezb;
}
protected internal Dynamixel(EZB ezb)
{
_ezb = ezb;
}
public MPU9150(EZB ezb)
{
_ezb = ezb;
}
protected internal ServoAX12(EZB ezb)
{
_ezb = ezb;
}
protected internal MIP(EZB ezb)
{
_ezb = ezb;
}
protected internal BlinkM(EZB ezb)
{
_ezb = ezb;
}
public LidarLite(EZB ezb)
{
_ezb = ezb;
}
public MPU6050(EZB ezb)
{
_ezb = ezb;
}
protected internal I2C(EZB ezb)
{
_ezb = ezb;
}
protected internal Digital(EZB ezb)
{
_ezb = ezb;
}
protected internal ADC(EZB ezb)
{
_ezb = ezb;
}
protected internal TellyMate(EZB ezb)
{
_ezb = ezb;
}
