/// <summary>
/// Shows how to move single motor to desired position
/// </summary>
/// <param name="topas"></param>
/// <param name="motor"></param>
public void TweakMotorPosition(MotorData motor)
{
if (motor == null)
{
throw new ArgumentNullException(nameof(motor), $"{nameof (motor)} is null.");
}
Console.WriteLine(@"Press Up/Down arrow keys to move motor " + motor.Title + ". Press Escape to finish motor position tweaking.");
var motorIndex = motor.Index;
do
{
var key = Console.ReadKey(true);
switch (key.Key)
{
case ConsoleKey.Escape:
return;
case ConsoleKey.UpArrow:
var current = Topas.MotorsService.GetMotor(motorIndex).TargetPosition;
Topas.MotorsService.SetTargetPosition(motorIndex, current + 8); //steps, if you want to use units use SetMotorTargetPositionInUnits
break;
case ConsoleKey.DownArrow:
Topas.MotorsService.SetTargetPositionRelative(motorIndex, -8); //functionality code to UpArrow
break;
default:
Console.WriteLine("Invalid key. Use Escape to stop motor position adjustment, Up and Down arrows to move motor.");
break;
}
} while (true);
}
/// <summary>
/// process the response from server and update the properties
/// </summary>
protected override bool ProcessResponse(HttpResponse response)
{
string json = response.Result;
// deserialize
MotorData = JsonConvert.DeserializeObject <MotorData>(json);
return(true);
}
// Send byte to the 74HCT595 demux
private void latch_tx()
{
MotorLatch.Write(false);
for (int i = 8; i >= 0; i--)
{
MotorClk.Write(false);
MotorData.Write((latch_state & (1 << i)) > 0);
MotorClk.Write(true);
}
MotorLatch.Write(true);
}
public void Dispose()
{
latch_state = 0;
latch_tx();
//if (UsedDriver == Drivers.Driver1 || UsedDriver == Drivers.Both)
//{
// Motor1A.Dispose();
// Motor1B.Dispose();
//}
//if (UsedDriver == Drivers.Driver2 || UsedDriver == Drivers.Both)
//{
Motor2A.Dispose();
Motor2B.Dispose();
//}
MotorLatch.Dispose();
MotorEnable.Dispose();
MotorClk.Dispose();
MotorData.Dispose();
}
private PartData ParsePartData(Transform trans, PartUnit partUnit, string customValue)
{
PartData partData;
switch (partUnit.type)
{
case PartType.Bone:
{
var data = new BoneData();
for (int i = 0; i < trans.childCount; i++)
{
var t = trans.GetChild(i);
if (!t.name.StartsWith(ModelFBXParser.GroupMark))
{
continue;
}
var group = t;
for (int j = 0; j < @group.childCount; j++)
{
var child = @group.GetChild(j);
data.num = customValue;
var childName = ModelFBXParser.ToLegalName(child.name);
data.items.Add(childName);
}
break;
}
partData = data;
break;
}
case PartType.MC:
{
var data = new MCData();
data.type = 1;
partData = data;
break;
}
case PartType.Wire:
{
var data = new WireData();
data.num = customValue;
partData = data;
break;
}
case PartType.Servo:
{
var data = new ServoData();
data.id = int.Parse(customValue);
data.type = 1;
data.angle = 120;
partData = data;
break;
}
case PartType.Motor:
{
var data = new MotorData();
data.id = int.Parse(customValue);
partData = data;
break;
}
case PartType.Sensor:
{
var data = new SensorData();
data.id = int.Parse(customValue);
partData = data;
break;
}
default:
{
partData = new PartData();
break;
}
}
partData.name = trans.name;
partData.source = partUnit.source;
partData.transform = new DTransform();
partData.transform.position = trans.localPosition;
partData.transform.angle = trans.localEulerAngles;
partData.transform.scale = GetScale(trans, partData.partType);
partData.parent = GetParentName(trans);
return(partData);
}
/// <summary>
/// constructor
/// </summary>
public MotorClient(string id, IotHttpClient client, IotNode parent)
: base(id, client, parent)
{
MotorData = new MotorData();
}
private void JaguarCtrl_Load(object sender, EventArgs e)
{
for (int i = 0; i < 2; i++)
{
armMotor[i] = new MotorData();
}
realJaguar.connectRobot (jaguarSetting.RobotID);
//Initialize Robot Variables and Google Earth
//gEarth.Initialize(this);
if (Simulating())
checkBoxHardware.Checked = false;
else
checkBoxHardware.Checked = true;
//for Axis camera
try
{
// Set properties, deciding what url completion to use by MediaType.
myAMC.MediaUsername = jaguarSetting.CameraUser;
myAMC.MediaPassword = jaguarSetting.CameraPWD;
myAMC.MediaType = "mjpeg";
myAMC.MediaURL = CompleteURL(jaguarSetting.CameraIP + ":" + jaguarSetting .CameraPort , "mjpeg");
myAMC.AudioConfigURL = "http://" + jaguarSetting.CameraIP + ":" + jaguarSetting .CameraPort + "/axis-cgi/view/param.cgi?camera=1&action=list&group=Audio,AudioSource.A0";
myAMC.ToolbarConfiguration = "default, + audiocontrol,+ rec";
myAMC.AudioReceiveStop();
// Start the streaming
myAMC.Play();
myAMC.AudioReceiveURL = "http://" + jaguarSetting.CameraIP + ":" + jaguarSetting .CameraPort + "/axis-cgi/audio/receive.cgi";
myAMC.Volume = 0;
//myAMC.AudioReceiveStart();
myAMC.AudioTransmitURL = "http://" + jaguarSetting.CameraIP + ":" + jaguarSetting.CameraPort + "/axis-cgi/audio/transmit.cgi";
}
catch (Exception ex)
{
MessageBox.Show(this, "Unable to play stream: " + ex.Message);
}
//for joystick control
if (InitDirectInput())
tmrJoyStickPoll.Enabled = true;
//for GPS/IMU communication
if ((jaguarSetting.IMUIP !="0.0.0.0") && (jaguarSetting .GPSIP != "0.0.0.0"))
startComm ();
// for laser scan
if ((jaguarSetting.LaserRangeIP != "0.0.0.0") && (jaguarSetting.LaserRangePort != 0))
{
startCommLaser();
btnLaserScan.Enabled = true;
}
else
btnLaserScan.Enabled = false;
drawLaserBackground();
MOTDIR = jaguarSetting .MotorDir;
btnDisArm.Visible = false;
pictureBoxStuckDetect.BackColor = Color.Green;
btnScan.Enabled = false;
}
private void JaguarCtrl_Load(object sender, EventArgs e)
{
for (int i = 0; i < 2; i++)
{
armMotor[i] = new MotorData();
}
myJaguar.connectRobot (jaguarSetting.RobotID);
//for google earth application
cenerLatitude = jaguarSetting.GoogleEarthStartLat.ToString ();
centerLongitude = jaguarSetting.GoogleEarthStartLong.ToString();
txtStartLat.Text = cenerLatitude;
txtStartLong.Text = centerLongitude;
if (this.DesignMode == false)
{
googleEarth = new ApplicationGEClass();
MessageBox.Show("Waiting for GoogleEarth to be loaded…. \n This may take a while.When the GoogleEarth is shown, click OK to continue.", "DrRobot Jaguar Control", MessageBoxButtons.OK, MessageBoxIcon.Asterisk);
//ShowWindowAsync(googleEarth.GetMainHwnd(), 0);
GEHrender = (IntPtr)googleEarth.GetRenderHwnd();
GEParentHrender = GetParent(GEHrender);
MoveWindow(GEHrender, 0, 0, this.panelGE.Width, this.panelGE.Height, true);
SetParent(GEHrender, this.panelGE.Handle);
// don'tdo it now , we keep google earth window to clear the KML data in temporary node
//Hide the main GE window
//SetWindowPos(googleEarth.GetMainHwnd(), HWND_BOTTOM, 0, 0, 0, 0, SWP_NOSIZE + SWP_HIDEWINDOW);
}
//for Axis camera
try
{
// Set properties, deciding what url completion to use by MediaType.
myAMC.MediaUsername = jaguarSetting.CameraUser;
myAMC.MediaPassword = jaguarSetting.CameraPWD;
myAMC.MediaType = "mjpeg";
myAMC.MediaURL = CompleteURL(jaguarSetting.CameraIP + ":" + jaguarSetting .CameraPort , "mjpeg");
myAMC.AudioConfigURL = "http://" + jaguarSetting.CameraIP + ":" + jaguarSetting .CameraPort + "/axis-cgi/view/param.cgi?camera=1&action=list&group=Audio,AudioSource.A0";
/*
myAMC.PTZControlURL = "http://" + jaguarSetting.CameraIP + ":" + jaguarSetting.CameraPort + "/axis-cgi/com/ptz.cgi";
myAMC.UIMode = "ptz-absolute";
myAMC.ShowToolbar = true;
myAMC.StretchToFit = true;
myAMC.EnableContextMenu = true;
myAMC.ToolbarConfiguration = "default,+ptz";
*/
myAMC.ToolbarConfiguration = "default, + audiocontrol,+ rec";
myAMC.AudioReceiveStop();
// Start the streaming
myAMC.Play();
myAMC.AudioReceiveURL = "http://" + jaguarSetting.CameraIP + ":" + jaguarSetting .CameraPort + "/axis-cgi/audio/receive.cgi";
myAMC.Volume = 100;
//myAMC.AudioReceiveStart();
myAMC.AudioTransmitURL = "http://" + jaguarSetting.CameraIP + ":" + jaguarSetting.CameraPort + "/axis-cgi/audio/transmit.cgi";
}
catch (Exception ex)
{
MessageBox.Show(this, "Unable to play stream: " + ex.Message);
}
//for joystick control
if (InitDirectInput())
tmrJoyStickPoll.Enabled = true;
//for GPS/IMU communication
if ((jaguarSetting.IMUIP !="0.0.0.0") && (jaguarSetting .GPSIP != "0.0.0.0"))
{
startComm ();
}
// for laser scan
if ((jaguarSetting.LaserRangeIP != "0.0.0.0") && (jaguarSetting.LaserRangePort != 0))
{
startCommLaser();
btnLaserScan.Enabled = true;
}
else
{
btnLaserScan.Enabled = false;
}
drawLaserBackground();
MOTDIR = jaguarSetting .MotorDir;
if (jaguarSetting.RobotType.ToLower() == "jaguar")
{
armPosIndicator.SetArmPositionIndicatorParameters(0,0);
pictureBoxRobot.SendToBack();
armPosIndicator.BringToFront();
lblMot1.Text = "Front Arm Motor:";
lblMot2.Text = "Reserved:";
lblMot3.Text = "Left Track Motor:";
lblMot4.Text = "Right Track Motor:";
btnDisArm.Visible = true;
}
else if (jaguarSetting.RobotType.ToLower() == "jaguar_4arms")
{
armPosIndicator.Set2ArmCtrl(true);
armPosIndicator.SetArmPositionIndicatorParameters(0, 0);
pictureBoxRobot.SendToBack();
armPosIndicator.BringToFront();
lblMot1.Text = "Front Arm Motor:";
lblMot2.Text = "Rear Arm Motor:";
lblMot3.Text = "Left Track Motor:";
lblMot4.Text = "Right Track Motor:";
btnDisArm.Visible = true;
}
else
{
armPosIndicator.SendToBack();
pictureBoxRobot.BringToFront();
btnDisArm.Visible = false;
if (jaguarSetting.RobotType.ToLower() == "jaguar_lite")
{
pictureBoxRobot.Image = imageList2.Images[0];
lblMot1.Text = "Left Track Motor:";
lblMot2.Text = "Right Track Motor:";
lblMot3.Visible = false;
lblMot4.Visible = false;
lblEncoderPos3.Visible = false;
lblEncoderPos4.Visible = false;
lblVel3.Visible = false;
lblVel4.Visible = false;
lblTemp3.Visible = false;
lblTemp4.Visible = false;
}
else if (jaguarSetting.RobotType.ToLower() == "jaguar_4x4track")
{
pictureBoxRobot.Image = imageList2.Images[1];
lblMot1.Text = "Left Front Motor:";
lblMot2.Text = "Right Front Motor:";
lblMot3.Text = "Left Rear Motor:";
lblMot4.Text = "Right Rear Motor:";
}
else //if (jaguarSetting.RobotType.ToLower() == "jaguar_4x4wheel")
{
pictureBoxRobot.Image = imageList2.Images[2];
lblMot1.Text = "Left Front Wheel:";
lblMot2.Text = "Right Front Wheel:";
lblMot3.Text = "Left Rear Wheel:";
lblMot4.Text = "Right Rear Wheel:";
}
}
pictureBoxStuckDetect.BackColor = Color.Green;
btnScan.Enabled = false;
}
