//rtgpsout.unavco.org:2101
        //69.44.86.36 

        /// <summary>
        /// </summary>
        /// <param name="ntripIpAddress"></param>
        /// <param name="ntripPort"></param>
        /// <param name="ntripMountPoint"></param>
        /// <param name="userName"></param>
        /// <param name="password"></param>
        /// <param name="display"></param>
        public NtripClient(string ntripIpAddress, int ntripPort, string ntripMountPoint, string userName, string password, SparkFunSerial16X2Lcd display)
        {
            _username = userName;
            _password = password;

            _ntripPort = ntripPort;

            _ntripMountPoint = ntripMountPoint;

            _display = display;

            try
            {
                IPAddress.TryParse(ntripIpAddress, out _ip);

                if (_ip == null)
                    return;

                _endPoint = new IPEndPoint(_ip, _ntripPort);
            }
            catch (Exception)
            {
                //
            }
        }
Exemple #2
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        private readonly Stopwatch _dpadStopwatch = new Stopwatch();//Basically a "debounce"

        internal Hexapi(IkController ikController, 
                        XboxController xboxController, 
                        Navigator navigator, 
                        SparkFunSerial16X2Lcd display, 
                        Gps.Gps gps,
                        IoTClient ioTClient)
        {
            _ik = ikController;
            _xboxController = xboxController;
            _gps = gps;
            _navigator = navigator;
            _display = display;
            _ioTClient = ioTClient;

            _functionStopwatch.Start();
            _dpadStopwatch.Start();

            SetGaitOptions();

            XboxController.LeftDirectionChanged += XboxController_LeftDirectionChanged;
            XboxController.RightDirectionChanged += XboxController_RightDirectionChanged;
            XboxController.DpadDirectionChanged += XboxController_DpadDirectionChanged;
            XboxController.LeftTriggerChanged += XboxController_LeftTriggerChanged;
            XboxController.RightTriggerChanged += XboxController_RightTriggerChanged;
            XboxController.FunctionButtonChanged += XboxController_FunctionButtonChanged;
            XboxController.BumperButtonChanged += XboxController_BumperButtonChanged;
            XboxController.DisconnectedEvent += XboxController_DisconnectedEvent; ;
        }
        internal IkController(InverseKinematics inverseKinematics, 
                              SparkFunSerial16X2Lcd display, 
                              IoTClient ioTClient,
                              Gps.Gps gps)
        {
            _inverseKinematics = inverseKinematics;
            _display = display;
            _ioTClient = ioTClient;
            _gps = gps;

            _perimeterInInches = 15;

            _selectedIkFunction = SelectedIkFunction.BodyHeight;
            _behavior = Behavior.Bounce;
        }
        public async void Run(IBackgroundTaskInstance taskInstance)
        {
            _deferral = taskInstance.GetDeferral();

            _display = new SparkFunSerial16X2Lcd();
            _xboxController = new XboxController(_display);
            _ntripClient = new NtripClient("172.16.0.237", 8000, "", "", "", _display); //172.16.0.227
            _ioTClient = new IoTClient(_display);
            _gps = new Gps.Gps( _display, _ntripClient);
            _inverseKinematics = new InverseKinematics(_display);
            _ikController = new IkController(_inverseKinematics, _display, _ioTClient, _gps); //Range and yaw/pitch/roll data from Arduino and SparkFun Razor IMU
            _navigator = new Navigator(_ikController, _display, _gps);
            _hexapi = new Hexapi(_ikController, _xboxController, _navigator, _display, _gps, _ioTClient);

            _initializeTasks.Add(_display.InitializeAsync());
            _initializeTasks.Add(_xboxController.InitializeAsync());
            _initializeTasks.Add(_ikController.InitializeAsync());
            _initializeTasks.Add(_ntripClient.InitializeAsync());
            _initializeTasks.Add(_gps.InitializeAsync());
            _initializeTasks.Add(_inverseKinematics.InitializeAsync());
            _initializeTasks.Add(_ioTClient.InitializeAsync());

            _startTasks.Add(_ntripClient.StartAsync());
            _startTasks.Add(_ikController.StartAsync());
            _startTasks.Add(_gps.StartAsync());
            _startTasks.Add(_inverseKinematics.StartAsync());
            //_startTasks.Add(_ioTClient.StartAsync());//only needed if expecting messages from the server

            //foreach (var d in await SerialDeviceHelper.ListAvailablePorts())
            //{
            //    await _ioTClient.SendEvent(d);
            //}

            await Task.WhenAll(_initializeTasks.ToArray());

            await Task.WhenAll(_startTasks.ToArray());
        }
Exemple #5
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 internal XboxController(SparkFunSerial16X2Lcd display)
 {
     _display = display;
 }
 internal IoTClient(SparkFunSerial16X2Lcd display)
 {
     _display = display;
 }
 internal XboxController(SparkFunSerial16X2Lcd display)
 {
     _display = display;
 }
Exemple #8
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 internal Gps(SparkFunSerial16X2Lcd display, NtripClient ntripClientTcp = null)
 {
     _display = display;
     _ntripClientTcp = ntripClientTcp;
 }
 internal Navigator(IkController ikController,  SparkFunSerial16X2Lcd display, Gps.Gps gps)
 {
     _ikController = ikController;
     _gps = gps;
     _display = display;
 }
        internal InverseKinematics(SparkFunSerial16X2Lcd display)
        {
            IkController.RangingEvent += RangingEventHandler;

            IkController.ImuEvent += ImuEventHandler;

            _display = display;

            _pi1K = Pi*1000D;

            for (var i = 0; i < 6; i++)
                LegServos[i] = new int[3];

            _movementStarted = false;

            for (var legIndex = 0; legIndex <= 5; legIndex++)
            {
                _legPosX[legIndex] = _initPosX[legIndex]; //Set start positions for each leg
                _legPosY[legIndex] = _initPosY[legIndex];
                _legPosZ[legIndex] = _initPosZ[legIndex];

                LegYHeightCorrector[legIndex] = 0;
            }

            _oscillateStopwatch.Start();
        }