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 Robot()
{
m_brick = new NxtBrick(NxtCommLinkType.Bluetooth, 3);
m_leftMotor = new NxtMotor();
m_rightMotor = new NxtMotor();
m_brick.MotorB = m_leftMotor;
m_brick.MotorC = m_rightMotor;
m_motors = new NxtMotorSync(m_leftMotor, m_rightMotor);
}
static void Reverse()
{
motorPair.Brake();
// set to reverse
brick.MotorA = new NxtMotor(true);
brick.MotorC = new NxtMotor(true);
motorPair = new NxtMotorSync(brick.MotorA, brick.MotorC);
motorPair.Run(75, 0, 0);
Thread.Sleep(1000);
motorPair.Brake();
}
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);
}
private void Backward()
{
textBox1.Text += "Backward" + Environment.NewLine;
if (motorPair != null)
{
motorPair.Brake();
}
nxt.MotorB = new NxtMotor(true);
nxt.MotorC = new NxtMotor(true);
nxt.MotorB.ResetMotorPosition(true);
nxt.MotorC.ResetMotorPosition(true);
motorPair = new NxtMotorSync(nxt.MotorB, nxt.MotorC);
motorPair.Run(100, 0, 0);
nxtStatus[Motion.Forward] = false;
nxtStatus[Motion.Back] = true;
nxtStatus[Motion.TurnLeft] = false;
nxtStatus[Motion.TurnRight] = false;
nxtStatus[Motion.Brake] = false;
}
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();
}
