public override void Setup()
{
Eye = new Camera(0);
Eye.Start();
Arm = new ThreeDOFArm("COM3", 115200);
Arm.Connect();
Brain = new Cognitive();
}
private void ConnectButton_Click(object sender, RoutedEventArgs e)
{
if (string.Equals(ConnectButton.Content.ToString(), "Disconntect", StringComparison.CurrentCultureIgnoreCase))
{
if (((arm != null) && arm.IsConnected))
{
arm.Dispose();
arm = null;
ConnectButton.Content = "Conntect";
CurrentCoordinateX.Text = "";
CurrentCoordinateY.Text = "";
CurrentCoordinateZ.Text = "";
}
}
else
{
if (arm == null)
{
var portName = ComboBoxPort.SelectedValue.ToString();
var baud = 115200;
arm = new ThreeDOFArm(portName, baud);
arm.Subscript(string.Empty, handleArmCallback);
}
if (!arm.IsConnected)
{
arm.Connect();
}
if (arm.IsConnected)
{
ConnectButton.Content = "Disconntect";
var currentPose = arm.GetLatestData();
var currentCoordinate = arm.ConvertToCoordinate(currentPose);
ShowPosition(currentCoordinate.Item1, currentCoordinate.Item2, currentCoordinate.Item3);
//var currentPosition =
}
//_serialPort.StartRead(DataReceivedHandler);
}
}
public override void Setup()
{
LeftArmCommandList = new Queue <BaseCommand>();
LeftArmCurrentStatus = Status.Idle;
RightArmCommandList = new Queue <BaseCommand>();
RightArmCurrentStatus = Status.Idle;
Brain = new CloudBrain(new Uri("http://10.125.169.141:8182"), new BasicAuthenticationCredentials());
RightArmId = 4396;
LeftArmId = 43967;// Brain.Arm.Register().Value;
LeftArm = new ThreeDOFArm("COM4", 115200);
LeftArm.Subscript("CallBack", HandleLeftArmCallback);
LeftArm.Connect();
RightArm = new ThreeDOFArm("COM4", 115200);
RightArm.Subscript("CallBack", HandleRightArmCallback);
RightArm.Connect();
}
public override void Setup()
{
CommandList = new Queue <BaseCommand>();
CurrentStatus = Status.Idle;
Brain = new CloudBrain(new Uri("http://10.125.169.141:8182"), new BasicAuthenticationCredentials());
ArmId = 4396;// Brain.Arm.Register().Value;
Eye = new Camera(0);
Arm = new ThreeDOFArm("COM4", 115200);
Arm.Subscript("CallBack", HandleArmCallback);
Arm.Connect();
storageAccount = CloudStorageAccount.Parse("SSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSS");
blobClient = storageAccount.CreateCloudBlobClient();
container = blobClient.GetContainerReference($"{Math.Abs(ArmId)}-image");
container.CreateIfNotExists();
//CommandList.Enqueue(new VisionCommand());
}
private void ArmConnectButton_Click(object sender, RoutedEventArgs e)
{
if (string.Equals(ArmConnectButton.Content.ToString(), "Disconntect", StringComparison.CurrentCultureIgnoreCase))
{
if (((controlArm != null) && controlArm.IsConnected))
{
controlArm.ResetPosePosition();
controlArm.Close();
controlArm.Dispose();
controlArm = null;
ArmConnectButton.Content = "Conntect";
}
}
else
{
if (controlArm == null)
{
var portName = PortComboBox.SelectedValue.ToString();
var baud = 115200;
controlArm = new ThreeDOFArm(portName, baud);
controlArm.Subscript(string.Empty, ShowControlArmPosition);
}
if (!controlArm.IsConnected)
{
controlArm.Connect();
}
if (controlArm.IsConnected)
{
ArmConnectButton.Content = "Disconntect";
var currentPose = controlArm.GetLatestData();
ControllerShowCurrentStatus(currentPose);
}
}
}
