public Radio_Series1(Robot robo, string portName)
{
robot = robo;
UIAnalogVals = new int[(int)INTERFACEPACKET.ANALOG_BYTES];
UIDigitalVals = new bool[(int)INTERFACEPACKET.DIGITAL_BYTES * 8];
state = RadioState.IDLE;
port = new SerialPort(portName, 9600, Parity.None, 8, StopBits.One);
port.ReadTimeout = 2;
port.Open();
data = new InterfacePacket((byte)INTERFACEPACKET.IDENT, (int)INTERFACEPACKET.ANALOG_BYTES, (int)INTERFACEPACKET.DIGITAL_BYTES);
telemetry = new TelemetryPacket((byte)TELEMETRYPACKET.IDENT, (int)TELEMETRYPACKET.ANALOG_BYTES, (int)TELEMETRYPACKET.DIGITAL_BYTES);
buffer = new byte[512];
receiver = new XBeeInterfaceReceiver(this);
frame = 0;
}
public Radio(Robot robo, string portName)
{
robot = robo;
UIAnalogVals = new int[(int)INTERFACEPACKET.ANALOG_BYTES];
UIDigitalVals = new bool[(int)INTERFACEPACKET.DIGITAL_BYTES];
FieldAnalogVals = new int[(int)FIELDPACKET.ANALOG_BYTES];
FieldDigitalVals = new bool[(int)FIELDPACKET.DIGITAL_BYTES];
state = RadioState.IDLE;
port = new SerialPort(portName, 9600, Parity.None, 8, StopBits.One);
port.ReadTimeout = 2;
port.Open();
data = new InterfacePacket((byte)INTERFACEPACKET.IDENT, (int)INTERFACEPACKET.ANALOG_BYTES, (int)INTERFACEPACKET.DIGITAL_BYTES);
telemetry = new TelemetryPacket((byte)TELEMETRYPACKET.IDENT, (int)TELEMETRYPACKET.ANALOG_BYTES, (int)TELEMETRYPACKET.DIGITAL_BYTES);
buffer = new byte[128];
telemetryThread = new Thread(new ThreadStart(this.Telemetry));
receiver = new XBeeReceiver(this);
frame = 0;
Debug.Print(" **** Radio constructor ****");
radioThread = new Thread(new ThreadStart(this.Poll));
radioThread.Start();
}