static void Main(string[] args)
{
Arm lynx = new Arm();
//open ports
// Instantiate the communications
// port with some basic settings
SerialPort port = new SerialPort("COM5", 115200, Parity.None, 8, StopBits.One);
// Open the port for communications
port.Open();
Console.WriteLine("Port open Sending first pos");
lynx.gotoSleep(4000, port);
Console.ReadLine();
lynx.gotoSleep(4000, port);
Console.WriteLine("First sequence sent");
Console.ReadLine();
Console.WriteLine("opening Link");
Kinect vision = new Kinect(lynx,port);
port.Close();
Console.ReadLine();
}
public Kinect(Arm arm, SerialPort p)
{
angle = new float[1];
finglims = new double[3] { 0.0, 1.37, 1.8 };
//kneexlims = new double[3] { -0.07, 0, 0.07 };
kneexlims = new double[3] { 0.1, 0, 0.3 };
brotlims =new double[3]{-90, 0, 90};
xslidelims = new double[3]{-0.5, 0, 0.5};
//Kinect p = new Kinect();
port = p;
lynx = arm;
kinectInit();
//string tests = string.Format("a :{0} , b : {1}", a, b);
Console.WriteLine("Kinect ïnitialised");
Console.ReadLine();
}
