/// <summary>
/// Initialisiert den Antrieb des Roboters
/// </summary>
///
/// <param name="runMode">der gewünschte Run-Mode (Real/Virtual)</param>
public Drive(RunMode runMode)
{
if (!Constants.IsWinCE) runMode = RunMode.Virtual;
this.runMode = runMode;
this.disposed = false;
// Antrieb initialisieren
if (this.runMode == RunMode.Real)
{
this.driveCtrl = new DriveCtrlHW(Constants.IODriveCtrl);
this.motorCtrlLeft = new MotorCtrlHW(Constants.IOMotorCtrlLeft);
this.motorCtrlRight = new MotorCtrlHW(Constants.IOMotorCtrlRight);
}
else
{
this.driveCtrl = new DriveCtrlSim();
this.motorCtrlLeft = new MotorCtrlSim();
this.motorCtrlRight = new MotorCtrlSim();
}
// Beschleunigung festlegen
this.motorCtrlLeft.Acceleration = 10f;
this.motorCtrlRight.Acceleration = 10f;
// Prozess-Thread erzeugen und starten
this.thread = new Thread(RunTracks);
this.thread.IsBackground = true;
this.thread.Priority = ThreadPriority.Highest;
this.thread.Start();
}
public Form1()
{
InitializeComponent();
// Initialisierung DriveCtrl-Objekt
driveCtrl = new RobotCtrl.DriveCtrl(RobotCtrl.Constants.IODriveCtrl);
// Initialisierung MotorCtrl_Left-Objekt
motorCtrlLeft = new RobotCtrl.MotorCtrl(RobotCtrl.Constants.IOMotorCtrlLeft);
// Initialisierung MotorCtrl_Right-Objekt
motorCtrlRight = new RobotCtrl.MotorCtrl(RobotCtrl.Constants.IOMotorCtrlRight);
// DriveCtrl-Objekt wird dem DriveCtlrView-Objekt übergeben
driveCtrView.DriveCtrl = driveCtrl;
// MotorCtrlLeft-Objekt wird dem MotorCtrlViewLeft-Objekt übergeben
motorCtrViewLeft.MotorCtrl = motorCtrlLeft;
// MotorCtrlRight-Objekt wird dem MotorCtrlViewRight-Objekt übergeben
motorCtrlViewRight.MotorCtrl = motorCtrlRight;
}
/// <summary>
/// Initialisiert den Antrieb des Roboters
/// </summary>
///
/// <param name="runMode">der gewünschte Run-Mode (Real/Virtual)</param>
public Drive()
{
this.disposed = false;
// Antrieb initialisieren
this.driveCtrl = new DriveCtrl(Constants.IODriveCtrl);
this.motorCtrlLeft = new MotorCtrl(Constants.IOMotorCtrlLeft);
this.motorCtrlRight = new MotorCtrl(Constants.IOMotorCtrlRight);
// Beschleunigung festlegen
this.motorCtrlLeft.Acceleration = 10f;
this.motorCtrlRight.Acceleration = 10f;
// Prozess-Thread erzeugen und starten
this.thread = new Thread(RunTracks);
this.thread.IsBackground = true;
this.thread.Priority = ThreadPriority.Highest;
this.thread.Start();
}
