Esempio n. 1
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        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;
        }
Esempio n. 2
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        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;

        }
Esempio n. 3
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        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);
        }
Esempio n. 4
0
        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);
            }

        }