public MainWindow()
{
InitializeComponent();
ArduMan = ArduinoManager.Instance;
ArduMan.findArduinos();
handDuino = ArduMan.getHandArduino();
handDuino.Data_Received += handDuino_Data_Received;
armDuino = ArduMan.getArmArduino();
armDuino.Data_Received += armDuino_Data_Received;
Console.SetOut(consoleViz.getStreamLink()); //Show console output in gui
Console.WriteLine("***Arm Control Booted***");
xboxController = new XboxController.XboxController();
armInput = armInputManager.getInstance(xboxController);
armTransmitter = new localArmCommandTransmitter(armDuino, handDuino, armInput);
xboxControllerMonitor.xboxController = xboxController;
armSideView.armInputManager = armInput;
armTopView.armInputManager = armInput;
Console.WriteLine("***XBOX CONTROLLER CONNECTED***");
wristComponent._xboxController = xboxController;
}
float deadzone = 15; // set lower for HIGHER resolution
public MainWindow()
{
InitializeComponent();
ARMan = ArduinoManager.Instance;
ARMan.findArduinos();
hanDuino = ARMan.getHandArduino();
hanDuino.Data_Received += hanDuino_Data_Received;
comInViz.setTitle("WRIST COM IN");
comOutViz.setTitle("WRIST COM OUT");
XBController = new XboxController.XboxController();
XBController.ThumbStickLeft += XBController_ThumbStickLeft;
XBController.ButtonAReleased += XBController_ButtonAReleased; //Press A to start/restart dance, exit live data mode.
XBController.ButtonBReleased += XBController_ButtonBReleased; //Press B to go into live input mode, exit dance mode.
XBController.ButtonStartReleased += XBController_ButtonStartReleased; //Press start button for emergency stop
XBController.TriggerRight += XBController_TriggerRight;
}
int deadzone = 1; //Lower this value for increased resolution (might cause slower response)
public MainWindow()
{
InitializeComponent();
serialTimer = new Timer(serialTimerCallback, null, 0, 50);
wristInViz.setTitle("WRIST COM IN");
ArduMan = ArduinoManager.Instance;
ArduMan.findArduinos();
wristDuino = ArduMan.getHandArduino();
wristDuino.Data_Received += wristDuino_Data_Received;
XBoxCon = new XboxController.XboxController();
XBoxCon.ThumbStickLeft+= XBoxCon_ThumbStickLeft;
Dispatcher.Invoke(() => maxMagSlider.Value = MAX_MAGNITUDE);
}
public MainWindow()
{
InitializeComponent();
driveIPLabel.Content = rocConstants.MCIP_DRIVE.ToString();
armIPLabel.Content = rocConstants.MCIP_ARM.ToString();
logisticsIPLabel.Content = rocConstants.MCIP_LOGISTICS;
engineeringIPLabel.Content = rocConstants.MCIP_ENG.ToString();
NetMan = networkManager.getInstance(incomingDriveLineManager, incomingEngLineManager, incomingArmLineManager, incomingLogisticsLineManager);
NetMan.DriveConnectionStatusChanged += NetMan_DriveConnectionStatusChanged;
NetMan.EngineeringConnectionStatusChanged += NetMan_EngineeringConnectionStatusChanged;
NetMan.ArmConnectionStatusChanged += NetMan_ArmConnectionStatusChanged;
NetMan.LogisticsConnectionStatusChanged += NetMan_LogisticsConnectionStatusChanged;
ArduMan = ArduinoManager.Instance;
ArduMan.findArduinos();
backDrive = ArduMan.getDriveBackArduino(false);
frontDrive = ArduMan.getDriveFrontArduino(false);
ptDuino = ArduMan.getPanTiltArduino(true);
ArmDuino = ArduMan.getArmArduino(false);
HandDuino = ArduMan.getHandArduino(false);
miscDuino = ArduMan.getMiscArduino(false);
backDrive.Data_Received += backDrive_Data_Received;
frontDrive.Data_Received += frontDrive_Data_Received;
ptDuino.Data_Received += ptDuino_Data_Received;
ArmDuino.Data_Received += ArmDuino_Data_Received;
HandDuino.Data_Received += HandDuino_Data_Received;
miscDuino.Data_Received += miscDuino_Data_Received;
driveMan = driveManager.getInstance(backDrive, frontDrive, NetMan);
ptMan = ptManager.getInstance(ptDuino, NetMan);
armMan = armManager.getInstance(ArmDuino, HandDuino, NetMan);
hwMonitor = ROCInfo.getInstance(1000);//updates once per second
hwMonitor.updatedValue += hwMonitor_updatedValue;
camMan = cameraManager.getInstance();
camMan.assignCameras();
VideoCaptureDevice panTiltLeft;
VideoCaptureDevice panTiltRight;
if(camMan.getCamera(rocConstants.CAMS.PT_left, out panTiltLeft) && camMan.getCamera(rocConstants.CAMS.PT_right, out panTiltRight)){ //if both the left and right cameras are found...
panTiltTransmitter = new managedDualVideoTransmitter(panTiltLeft, panTiltRight, rocConstants.MCIP_DRIVE, rocConstants.MCPORT_DRIVE_VIDEO_OCULUS);
panTiltTransmitter.startTransmitting();
}
//////////////
///VIDEO CAMS SETUP
//////////////
VideoCaptureDevice palmCam;
if (camMan.getCamera(rocConstants.CAMS.PALM, out palmCam))
{
palmCamTransmitter = new managedVideoTransmitter(palmCam, rocConstants.MCIP_ARM, rocConstants.MCPORT_ARM_VIDEO_PALM);
}
VideoCaptureDevice noseCam;
if (camMan.getCamera(rocConstants.CAMS.NOSE, out noseCam))
{
noseCamTransmitter = new managedVideoTransmitter(noseCam, rocConstants.MCIP_DRIVE, rocConstants.MCPORT_DRIVE_VIDEO_NOSE);
}
VideoCaptureDevice humerusCam;
if (camMan.getCamera(rocConstants.CAMS.Humerus, out humerusCam))
{
humerusCamTransmitter = new managedVideoTransmitter(humerusCam, rocConstants.MCIP_ARM, rocConstants.MCPORT_ARM_VIDEO_HUMERUS);
}
//////////////
///SNAPSHOT CAMS SETUP
//////////////
VideoCaptureDevice logFrontCam;
if (camMan.getCamera(rocConstants.CAMS.LOG_FRONT, out logFrontCam))
{
logFrontSS = new snapShotSender(logFrontCam);
}
VideoCaptureDevice logRightCam;
if (camMan.getCamera(rocConstants.CAMS.LOG_RIGHT, out logRightCam))
{
logRightSS = new snapShotSender(logRightCam);
}
VideoCaptureDevice logBackCam;
if (camMan.getCamera(rocConstants.CAMS.LOG_BACK, out logBackCam))
{
logBackSS = new snapShotSender(logBackCam);
}
VideoCaptureDevice logLeftCam;
if (camMan.getCamera(rocConstants.CAMS.LOG_LEFT, out logLeftCam))
{
logLeftSS = new snapShotSender(logLeftCam);
}
}