private void Check_If_Plugged_In(RoombaSCI.Sensors rsCurrentSensorPoll)
{
//Check sensors to see if current is negative.
//If it is, then disable the motor buttons & flash "Plugged In" in Bold Red in time with the sensor polls.
//If Roomba is charging, then flash that in Red as well, in time with the sensor polls.
byte chargeState = rsCurrentSensorPoll.Packet.Charging_State;
this.PopulateChargeState(chargeState);
}
public void Display_SensorInfo2(RoombaSCI.Sensors rsCurrentSensorPoll)
{
try
{
this.lblBytesRCVD.Text = rsCurrentSensorPoll.Raw_Bytes.Count.ToString() + c_sBytesRCVD;
this.lblBumps_WheelDropsRaw.Text = rsCurrentSensorPoll.Sync_Bytes[0].ToString();
this.lblBumps_WheelDrops.Text = this.GetBumpsWheelDrops(rsCurrentSensorPoll);
this.lblWall.Text = rsCurrentSensorPoll.Packet.Wall.ToString();
this.lblCliff_Left.Text = rsCurrentSensorPoll.Packet.Cliff.Left.ToString();
this.lblCliff_Front_Left.Text = rsCurrentSensorPoll.Packet.Cliff.FrontLeft.ToString();
this.lblCliff_Front_Right.Text = rsCurrentSensorPoll.Packet.Cliff.FrontRight.ToString();
this.lblCliff_Right.Text = rsCurrentSensorPoll.Packet.Cliff.Right.ToString();
this.lblVirtual_Wall.Text = rsCurrentSensorPoll.Packet.Virtual_Wall.ToString();
this.lblDirt_Detector_Left.Text = rsCurrentSensorPoll.Packet.Dirt_Detector.Left.ToString();
this.lblDirt_Detector_Right.Text = rsCurrentSensorPoll.Packet.Dirt_Detector.Right.ToString();
this.lblButtonsRaw.Text = rsCurrentSensorPoll.Sync_Bytes[11].ToString();
this.lblButtons.Text = this.GetButtons(rsCurrentSensorPoll);
this.lblRemote.Text = rsCurrentSensorPoll.Packet.Remote_Control_Command.ToString();
this.lblDistance_Traveled.Text = rsCurrentSensorPoll.Packet.Distance.ToString();
this.lblAngle_Traveled.Text = rsCurrentSensorPoll.Packet.Angle.ToString();
this.lblChargeStateRaw.Text = rsCurrentSensorPoll.Sync_Bytes[16].ToString();
this.PopulateChargeState(rsCurrentSensorPoll.Packet.Charging_State);
this.lblVoltage.Text = rsCurrentSensorPoll.Packet.Voltage.ToString();
this.lblCurrent.Text = rsCurrentSensorPoll.Packet.Current.ToString();
this.lblTemp.Text = rsCurrentSensorPoll.Packet.Temperature.ToString();
this.lblTempF.Text = Convert.ToString(Convert.ToInt32(this.lblTemp.Text) * 9 / 5 + 32);
this.lblCharge.Text = rsCurrentSensorPoll.Packet.Charge.ToString();
this.lblCapacity.Text = rsCurrentSensorPoll.Packet.Capacity.ToString();
this.lblMotorOvercurrentsRaw.Text = rsCurrentSensorPoll.Sync_Bytes[7].ToString();
this.lblMotorOvercurrents.Text = this.GetOverCurrents(rsCurrentSensorPoll);
}
catch
{
}
}
//Move this to Sensors Object..
public Hashtable ExportSensors(RoombaSCI.Sensor_Packet sensors)
{
Hashtable hLookup = new Hashtable();
hLookup.Add(c_sAngle, sensors.Angle);
hLookup.Add(c_sBumpRight, sensors.Bump.Right);
hLookup.Add(c_sBumpLeft, sensors.Bump.Left);
hLookup.Add(c_sClean, sensors.Buttons.Clean);
hLookup.Add(c_sMax, sensors.Buttons.Max);
hLookup.Add(c_sMax, sensors.Buttons.Home);
hLookup.Add(c_sPower, sensors.Buttons.Power);
hLookup.Add(c_sSpot, sensors.Buttons.Spot);
hLookup.Add(c_sCapacity, sensors.Capacity);
hLookup.Add(c_sCharge, sensors.Charge);
hLookup.Add(c_sChargingState, sensors.Charging_State);
hLookup.Add(c_sCliffFrontLeft, sensors.Cliff.FrontLeft);
hLookup.Add(c_sCliffFrontRight, sensors.Cliff.FrontRight);
hLookup.Add(c_sCliffLeft, sensors.Cliff.Left);
hLookup.Add(c_sCliffRight, sensors.Cliff.Right);
hLookup.Add(c_sCurrent, sensors.Current);
hLookup.Add(c_sDirtDetectorLeft, sensors.Dirt_Detector.Left);
hLookup.Add(c_sDirtDetectorRight, sensors.Dirt_Detector.Right);
hLookup.Add(c_sDistance, sensors.Distance);
hLookup.Add(c_sOverCurrentLeft, sensors.OverCurrent.Left_Wheel);
hLookup.Add(c_sOverCurrentRight, sensors.OverCurrent.Right_Wheel);
hLookup.Add(c_sOverCurrentMAIN, sensors.OverCurrent.Main_Brush);
hLookup.Add(c_sOverCurrentSide, sensors.OverCurrent.Side_Brush);
hLookup.Add(c_sOverCurrentVacuum, sensors.OverCurrent.Vacuum);
hLookup.Add(c_sRemote, sensors.Remote_Control_Command);
hLookup.Add(c_sTemperature, sensors.Temperature);
hLookup.Add(c_sVirtualWall, sensors.Virtual_Wall);
hLookup.Add(c_sVoltage, sensors.Voltage);
hLookup.Add(c_sWall, sensors.Wall);
hLookup.Add(c_sWheelDropCaster, sensors.WheelDrop.Caster);
hLookup.Add(c_sWheelDropLeft, sensors.WheelDrop.Left);
hLookup.Add(c_sWheelDropNone, sensors.WheelDrop.None);
hLookup.Add(c_sWheelDropRight, sensors.WheelDrop.Right);
//This is how you look up..
//string x = hLookup["Angle"].ToString();
return hLookup;
}
