public void Connect(string ip) { com = CDLL.Com_construct(); if (!CDLL.Com_setAddress(com, ip)) { throw new Exception("SetAddress error"); } if (!CDLL.Com_connect(com)) { throw new Exception("Cann't connect with robotino"); } omniDrive = CDLL.OmniDrive_construct(); for (int i = 0; i < 9; i++) { distanceSensor[i] = CDLL.DistanceSensor_construct((int)i); if (!CDLL.DistanceSensor_setComId(distanceSensor[i], com)) { throw new Exception("Cann't set DistanceSensor"); } } if (!CDLL.OmniDrive_setComId(omniDrive, com)) { throw new Exception("Cann't set OmniDrive"); } cameraID = CDLL.Camera_construct(); var ok = CDLL.Camera_setComId(cameraID, com); ok = CDLL.Camera_setStreaming(cameraID, true); }
public void DisConnect() { if (!CDLL.Com_disconnect(com)) { throw new Exception("Disconnect fail!"); } }
public void ManualControlMove(float speedX, float speedY, float rot) { if (!CDLL.OmniDrive_setVelocity(omniDrive, speedY, speedX, rot)) { throw new Exception("Control error"); } ; }
public void ManualControlMove(float speedX, float speedY, float rot) { if (mChangedEvent != null) { mChangedEvent.Invoke(speedX, speedY, rot); } if (!CDLL.OmniDrive_setVelocity(omniDrive, speedY, speedX, rot)) { throw new Exception("Control error"); } ; }
public void DisConnect() { if (!CDLL.Com_disconnect(com)) { throw new Exception("Disconnect fail!"); } if (!CDLL.OmniDrive_destroy(omniDrive)) { throw new Exception("Disconnect fail!"); } for (int i = 0; i < 9; i++) { if (!CDLL.DistanceSensor_destroy(distanceSensor[i])) { throw new Exception("Disconnect fail!"); } } }
public void Grab() { int imageWidth = 0; int imageHeight = 0; uint imageCounter = 0; var dt = DateTime.Now; if (CDLL.Com_isConnected(com)) { if (CDLL.Camera_grab(cameraID)) { CDLL.Camera_imageSize(cameraID, ref imageWidth, ref imageHeight); imageBufferSize = 3 * imageWidth * imageHeight; CDLL.Camera_getImage(cameraID, imageBuffer, imageBufferSize, ref imageWidth, ref imageHeight); } } }
public void Connect(string ip) { com = CDLL.Com_construct(); if (!CDLL.Com_setAddress(com, ip)) { throw new Exception("SetAddress error"); } if (!CDLL.Com_connect(com)) { throw new Exception("Cann't connect with robotino"); } omniDrive = CDLL.OmniDrive_construct(); if (!CDLL.OmniDrive_setComId(omniDrive, com)) { throw new Exception("Cann't set OmniDrive"); } }
public float ReadDistanceSensor(int n) { return(CDLL.DistanceSensor_voltage(distanceSensor[n])); }