/// <summary>
/// Connect to the NXT
/// </summary>
/// <param name="ComPort">The COM Port to connect. ex. 4</param>
public static void ConnectNXT(string ComPort)
{
try
{
comPort = byte.Parse(ComPort);
Brick = new NxtBrick(NxtCommLinkType.Bluetooth, comPort);
NxtMotor motorB = new NxtMotor();
Brick.MotorB = motorB;
NxtMotor motorC = new NxtMotor();
Brick.MotorC = motorC;
MotorPair = new NxtMotorSync(Brick.MotorB, Brick.MotorC);
if (!isConnected)
{
Brick.Connect();
isConnected = true;
Brick.PlaySoundfile("! Attention.rso");
}
}
catch
{
isConnected = false;
DisconnectNXT();
}
}
public static void RunForward()
{
NxtBrick brick = new NxtBrick(NxtCommLinkType.USB, 0);
// Attach a motor to port B.
brick.MotorB = new NxtMotor();
// Connect to the NXT.
brick.Connect();
Console.WriteLine("NXT name: " + brick.Name);
System.Diagnostics.Debug.WriteLine("NXT name: " + brick.Name);
// Write out the firmware version of the NXT-brick.
var conn = new NxtUsbConnection();
NxtGetFirmwareVersionReply? reply = conn.GetFirmwareVersion();
if (reply.HasValue)
System.Diagnostics.Debug.WriteLine("NXT firmware version: " + reply.Value.firmwareVersion);
// see: http://www.mindsqualls.net/MotorControl.aspx
MotorControlProxy.StartMotorControl(brick.CommLink);
System.Threading.Thread.Sleep(500);
MotorControlProxy.CONTROLLED_MOTORCMD(brick.CommLink, MotorControlMotorPort.PortB,"111", "000360", '5');
System.Diagnostics.Debug.WriteLine("Done");
System.Threading.Thread.Sleep(5000);
MotorControlProxy.StopMotorControl(brick.CommLink);
brick.Disconnect();
}
public void Disconnect()
{
if (_brick != null && _brick.IsConnected)
_brick.Disconnect();
_brick = null;
_motorPair = null;
}
public RobotMovement(NxtBrick nxtBrick, NameValueCollection config)
{
_speed = sbyte.Parse(config["Speed"]);
_nxtBrick = nxtBrick;
var motorB = new NxtMotor();
var motorC = new NxtMotor();
_nxtBrick.MotorB = motorB;
_nxtBrick.MotorC = motorC;
_motorPair = new NxtMotorSync(motorB, motorC);
}
public Nxt()
{
nxt = new NxtBrick(3);
nxt.MotorC = new NxtMotor();
try
{
this.nxt.Connect();
}
catch (Exception) { }
}
public RobotEngine()
{
_brick = new NxtBrick(NxtCommLinkType.Bluetooth, Config.SerialPortNo)
{
MotorA = new NxtMotor(),
MotorB = new NxtMotor(),
MotorC = new NxtMotor()
};
_motorSync = new NxtMotorSync(_brick.MotorA, _brick.MotorB);
}
public RobotSenses(NxtBrick nxtBrick, NameValueCollection config)
{
_nxtBrick = nxtBrick;
_thresholdDistanceCm = byte.Parse(config["ThresholdDistanceCm"]);
var distanceSensor = new NxtUltrasonicSensor
{
PollInterval = Int32.Parse(config["DistanceSensorPollingInterval"])
};
distanceSensor.OnPolled += distanceSensor_OnPolled;
_nxtBrick.Sensor4 = distanceSensor;
}
/// <summary>
/// Disconnect the NXT
/// </summary>
public static void DisconnectNXT()
{
Idle();
Brick.PlaySoundfile("! Attention.rso");
Brick.CommLink.StopProgram();
if (Brick != null && Brick.IsConnected)
isConnected = false;
Brick.Disconnect();
Brick = null;
MotorPair = null;
}
static void Main(string[] args)
{
var config = ConfigurationManager.AppSettings;
var comPort = byte.Parse(config["ComPort"]);
var nxtBrick = new NxtBrick(NxtCommLinkType.Bluetooth, comPort);
var robotMovement = new RobotMovement(nxtBrick, config);
var robotSenses = new RobotSenses(nxtBrick, config);
var robotBrain = new RobotBrain(nxtBrick, robotMovement, robotSenses);
Console.WriteLine("Starting Robot...");
robotBrain.Start();
Console.WriteLine("Robot started, press any key to stop");
Console.ReadKey();
robotBrain.Stop();
}
private void Form1_Load(object sender, EventArgs e)
{
try
{
myKinect = KinectSensor.KinectSensors[0];
myKinect.SkeletonStream.Enable();
myKinect.Start();
}
catch
{
MessageBox.Show("Kinect initialise failed", "camera view");
Application.Exit();
}
leftInitialPosition = new List <SkeletonPoint>();
rightInitialPosition = new List <SkeletonPoint>();
initialPositions = new Dictionary <string, SkeletonPoint>();
//cmds = new List<Motion>();
cmds = new Dictionary <Motion, bool>();
cmds[Motion.Back] = false;
cmds[Motion.Brake] = false;
cmds[Motion.Forward] = false;
cmds[Motion.TurnRight] = false;
cmds[Motion.TurnLeft] = false;
nxtStatus = new Dictionary <Motion, bool>();
nxtStatus[Motion.Brake] = false;
nxtStatus[Motion.Back] = false;
nxtStatus[Motion.Forward] = false;
nxtStatus[Motion.TurnLeft] = false;
nxtStatus[Motion.TurnRight] = false;
nxt = new NxtBrick(NxtCommLinkType.Bluetooth, 3);
nxt.MotorB = new NxtMotor();
nxt.MotorC = new NxtMotor();
motorPair = new NxtMotorSync(nxt.MotorB, nxt.MotorC);
nxt.Connect();
NXTLabel.Text = "NXT is connected.";
myKinect.SkeletonFrameReady += new EventHandler <SkeletonFrameReadyEventArgs>(myKinect_SkeletonFrameReady);
}
/*
* 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;
}
}
public NxtRobot(byte port)
{
try
{
Position = new NXTRobotPosition();
OnPositionChanged();
_brick = new NxtBrick(NxtCommLinkType.Bluetooth, port)
{
MotorA = new NxtMotor(),
MotorB = new NxtMotor(),
MotorC = new NxtMotor()
};
_motorPair = new NxtMotorSync(_brick.MotorA, _brick.MotorB);
_brick.Connect();
}
catch (Exception ex)
{
Debug.WriteLine(ex.Message);
Disconnect();
}
}
static void Main()
{
Init();
brick = new NxtBrick(NxtCommLinkType.USB, 0);
//brick = new NxtBrick(NxtCommLinkType.Bluetooth, 40);
var sound = new NxtSoundSensor();
var touch = new NxtTouchSensor();
var sonar = new NxtUltrasonicSensor();
brick.MotorA = new NxtMotor();
brick.MotorC = new NxtMotor();
motorPair = new NxtMotorSync(brick.MotorA, brick.MotorC);
brick.Sensor1 = sonar;
brick.Sensor3 = touch;
brick.Sensor4 = sound;
sound.PollInterval = 50;
sound.OnPolled += sound_OnPolled;
sonar.PollInterval = 50;
sonar.ThresholdDistanceCm = 25;
sonar.OnPolled += sonar_OnPolled;
sonar.OnWithinThresholdDistanceCm += OnWithinThreshold;
sonar.ContinuousMeasurementCommand();
touch.PollInterval = 50;
touch.OnPressed += OnCollision;
brick.Connect();
motorPair.Run(75, 0, 0);
Console.WriteLine("Press any key to stop.");
Console.ReadKey();
brick.Disconnect();
}
private void Form1_Load(object sender, EventArgs e)
{
try
{
myKinect = KinectSensor.KinectSensors[0];
myKinect.SkeletonStream.Enable();
myKinect.Start();
}
catch
{
MessageBox.Show("Kinect initialise failed", "camera view");
Application.Exit();
}
leftInitialPosition = new List<SkeletonPoint>();
rightInitialPosition = new List<SkeletonPoint>();
initialPositions = new Dictionary<string, SkeletonPoint>();
//cmds = new List<Motion>();
cmds = new Dictionary<Motion, bool>();
cmds[Motion.Back] = false;
cmds[Motion.Brake] = false;
cmds[Motion.Forward] = false;
cmds[Motion.TurnRight] = false;
cmds[Motion.TurnLeft] = false;
nxtStatus = new Dictionary<Motion, bool>();
nxtStatus[Motion.Brake] = false;
nxtStatus[Motion.Back] = false;
nxtStatus[Motion.Forward] = false;
nxtStatus[Motion.TurnLeft] = false;
nxtStatus[Motion.TurnRight] = false;
nxt = new NxtBrick(NxtCommLinkType.Bluetooth, 3);
nxt.MotorB = new NxtMotor();
nxt.MotorC = new NxtMotor();
motorPair = new NxtMotorSync(nxt.MotorB, nxt.MotorC);
nxt.Connect();
NXTLabel.Text = "NXT is connected.";
myKinect.SkeletonFrameReady += new EventHandler<SkeletonFrameReadyEventArgs>(myKinect_SkeletonFrameReady);
}
/**
* Stops the car and disconnects from the device.
*/
public bool Disconnect()
{
Yield();
if (brick != null && brick.IsConnected)
{
brick.Disconnect();
}
brick = null;
motorPair = null;
return true;
}
public void buttonBluetooth_Click(string comPort)
{
try
{
if (p4.isNXT)
{
this.nxt = new NxtBrick(NxtCommLinkType.Bluetooth, (byte)Convert.ToInt32(comPort));
this.nxt.Connect();
this.nxt.PlayTone(8000, 500);
this.pictureStatusKinect.BackgroundImage = Properties.Resources.nxt_green;
this.nxt.MotorB = new NxtMotor();
this.nxt.MotorC = new NxtMotor();
if (nxt.Programs.Contains("KIFS.rxe"))
{
nxt.Program = "KIFS.rxe";
this.isCustom = true;
}
name = nxt.Name;
}
else
{
this.ev3 = new Brick<Sensor, Sensor, Sensor, Sensor>("COM" + comPort);
this.ev3.Connection.Open();
this.ev3.PlayTone(5, (ushort) 8000, (ushort) 500);
this.pictureStatusKinect.BackgroundImage = Properties.Resources.nxt_green;
if (ev3.GetRunningProgram().Contains("kifen"))
this.isCustom = true;
name = "EV3";
}
this.timerUpdateNxt.Enabled = true;
}
catch (Exception enxt)
{
Console.Write(enxt.StackTrace);
}
}
public RobotBrain(NxtBrick nxtBrick, IRobotMovement robotMovement, IRobotSenses robotSenses)
{
_nxtBrick = nxtBrick;
_robotMovement = robotMovement;
_robotSenses = robotSenses;
}
private void trackBar1_ValueChanged(object sender, EventArgs e)
{
if (trackBar1.Value == 0)
{
if (ev3 != null && ev3.Connection.IsConnected)
{
this.ev3.Connection.Close();
this.ev3 = null;
}
labelStatusNxt.Text = "Disconnected";
labelStatusNxt.Visible = true;
pictureNXT.BackgroundImage = Properties.Resources.nxt_red;
pictureIconEV3.BackgroundImage = Properties.Resources.ev3_red;
pictureIconNXT.BackgroundImage = Properties.Resources.nxt_green;
}
else
{
if (nxt != null && nxt.IsConnected)
{
this.nxt.Disconnect();
this.nxt = null;
}
labelStatusNxt.Text = "Disconnected";
labelStatusNxt.Visible = true;
pictureNXT.BackgroundImage = Properties.Resources.ev3_red;
pictureIconEV3.BackgroundImage = Properties.Resources.ev3_green;
pictureIconNXT.BackgroundImage = Properties.Resources.nxt_red;
}
}
private void buttonBluetooth_Click(object sender, EventArgs e)
{
try
{
this.labelStatusNxt.Text = "Attempting to connect. . .";
this.labelStatusNxt.Refresh();
if (trackBar1.Value == 0)
{
this.nxt = new NxtBrick(NxtCommLinkType.Bluetooth, (byte)Convert.ToInt32(textBoxComPort.Text));
this.nxt.Connect();
this.nxt.PlayTone(8000, 500);
this.pictureNXT.BackgroundImage = Properties.Resources.nxt_green;
this.nxt.MotorB = new NxtMotor();
this.nxt.MotorC = new NxtMotor();
if (nxt.Programs.Contains("KIFS.rxe"))
{
nxt.Program = "KIFS.rxe";
this.isCustom = true;
}
name = nxt.Name;
}
else
{
this.ev3 = new Brick<Sensor, Sensor, Sensor, Sensor>("COM" + textBoxComPort.Text);
this.ev3.Connection.Open();
this.ev3.PlayTone(5, (ushort) 8000, (ushort) 500);
this.pictureNXT.BackgroundImage = Properties.Resources.nxt_green;
if (ev3.GetRunningProgram().Contains("kifen"))
this.isCustom = true;
name = "EV3";
}
this.labelStatusNxt.Text = "Connected to " + name;
this.timerHideStatNxt.Enabled = true;
this.timerUpdateNxt.Enabled = true;
}
catch (Exception enxt)
{
Console.Write(enxt.StackTrace);
this.labelStatusNxt.Text = "Disconnected";
}
}
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;
}
static void SetupUSBConnection()
{
brick = new NxtBrick(NxtCommLinkType.USB, 0);
Console.WriteLine("\nUSB connection set up.");
}
static void SetupBluetoothConnection()
{
Console.WriteLine("\n\nEnter your Bluetooth COM-Port (Default: 40)");
byte comport = Convert.ToByte(Console.ReadLine());
brick = new NxtBrick(NxtCommLinkType.Bluetooth, comport);
Console.WriteLine("\nBluetooth connection set up at port " + comport + ".");
}
public Form1()
{
InitializeComponent();
var brick = new NxtBrick(NxtCommLinkType.Bluetooth, Config.SerialPortNo)
{
MotorA = new NxtMotor(),
MotorB = new NxtMotor(),
MotorC = new NxtMotor()
};
var motorSync = new NxtMotorSync(brick.MotorA, brick.MotorB);
brick.Connect();
const int units = 100;
var realDistance = units / Config.UnitsInMeter;
var tachoLimit = (ushort)(realDistance * Config.RunTacho);
motorSync.Run(Config.RunPower, tachoLimit, 0);
//brick.Disconnect();
////_brick = new NxtBrick(NxtCommLinkType.Bluetooth, 3)
////{
//// MotorA = new NxtMotor(),
//// MotorB = new NxtMotor()
////};
////_motorSync = new NxtMotorSync(_brick.MotorA, _brick.MotorB);
////do
////{
//// _brick.Connect();
//// Thread.Sleep(1000);
////} while (!_brick.IsConnected);
////for (int i = 0; i < 1; ++i)
////{
//// _motorSync.ResetMotorPosition(true);
//// _motorSync.Idle();
//// _motorSync.Run(50, 4040, 100);
//// Thread.Sleep(10*1000);
////}
//McNxtBrick brick = new McNxtBrick(NxtCommLinkType.Bluetooth, 3);
//// Attach motors to port B and C on the NXT.
//brick.MotorA = new McNxtMotor();
//brick.MotorB = new McNxtMotor();
//// Syncronize the two motors.
//McNxtMotorSync motorPair = new McNxtMotorSync(brick.MotorA, brick.MotorB);
//// Connect to the NXT.
//brick.Connect();
//// If not already running, start the MotorControl program.
//if (brick.IsMotorControlRunning())
// brick.StartMotorControl();
//// Run the motor-pair at 75% power, for a 3600 degree run.
//motorPair.Run(75, 3600, 100);
////for (int i = 0; i < 3; ++i)
////{
//// uint tacho = 2000;
//// brick.MotorA.Run(50, tacho);
//// brick.MotorB.Run(-50, tacho);
//// Thread.Sleep(10 * 1000);
////}
//// Disconnect from the NXT.
//brick.Disconnect();
}
private void buttonBluetooth_Click(object sender, EventArgs e)
{
try
{
this.labelStatusNxt.Text = "Attempting to connect. . .";
this.labelStatusNxt.Refresh();
this.nxt = new NxtBrick(NxtCommLinkType.Bluetooth, (byte) Convert.ToInt32(textBoxComPort.Text));
this.nxt.Connect();
this.nxt.PlayTone(8000, 500);
this.pictureNXT.BackgroundImage = Properties.Resources.nxt_green;
this.nxt.MotorB = new NxtMotor();
this.nxt.MotorC = new NxtMotor();
if (nxt.Programs.Contains("KIFS.rxe"))
{
nxt.Program = "KIFS.rxe";
this.isCustom = true;
}
name = nxt.Name;
this.labelStatusNxt.Text = "Connected to " + nxt.Name;
this.timerHideStatNxt.Enabled = true;
//this.timerUpdateNxt.Enabled = true;
}
catch (Exception enxt)
{
Console.Write(enxt.StackTrace);
this.labelStatusNxt.Text = "Disconnected";
}
}