private void ArduinoSetup()
{
ledON = false;
toggleLED.BackColor = Color.Red;
serialPort = new ArduinoSerialPort("COM5", 115200);
serialPort.Open();
cwAnalogPinMapping = new PinMapping(11);
ccwAnalogPinMapping = new PinMapping(10);
pinMapping = new PinMapping(13);
eStop = new PinMapping(8);
serialPort.ComponentMappings.Add(cwAnalogPinMapping);
serialPort.ComponentMappings.Add(ccwAnalogPinMapping);
serialPort.ComponentMappings.Add(pinMapping);
serialPort.ComponentMappings.Add(eStop);
cwAnalogPinMapping.SetPinMode(SetPinModeStateCodes.OutputStateCode);
cwAnalogPinMapping.SetPinMode(SetPinModeStateCodes.OutputStateCode);
pinMapping.SetPinMode(SetPinModeStateCodes.OutputStateCode);
eStop.SetPinMode(SetPinModeStateCodes.OutputStateCode);
pinMapping.FeedbackEvent += new SkynetUtilities.FeedbackRecievedEventHandler(ResponsePackageRecieved);
this.replyPackageTextBox.Text = "0";
eStop.SetPin(true);
stopped = false;
}
public SmartPinMapping(PinMapping cwPinMapping, PinMapping ccwPinMapping, SkynetUtilities.FeedbackRecievedEventHandler pinFeedbackEventHandler)
{
this.cwPinMapping = cwPinMapping;
this.ccwPinMapping = ccwPinMapping;
this.cwPinMapping.FeedbackEvent += pinFeedbackEventHandler;
this.ccwPinMapping.FeedbackEvent += pinFeedbackEventHandler;
}
public SmartPinMapping(PinMapping cwPinMapping, PinMapping ccwPinMapping, SkynetUtilities.FeedbackRecievedEventHandler pinFeedbackEventHandler)
{
this.cwPinMapping = cwPinMapping;
this.ccwPinMapping = ccwPinMapping;
this.cwPinMapping.FeedbackEvent += pinFeedbackEventHandler;
this.ccwPinMapping.FeedbackEvent += pinFeedbackEventHandler;
}
public void CreateEmergencyStop()
{
// RBakerFlag -> This should be in a "reserved pins" settings file.
// Or even a pin profile.
emergencyStop = new PinMapping(8);
arduinoSerialPort.ComponentMappings.Add(emergencyStop);
emergencyStop.SetPinMode(SetPinModeStateCodes.OutputStateCode);
emergencyStop.SetPin(true);
}
public void CreateEmergencyStop()
{
// RBakerFlag -> This should be in a "reserved pins" settings file.
// Or even a pin profile.
emergencyStop = new PinMapping(8);
arduinoSerialPort.ComponentMappings.Add(emergencyStop);
emergencyStop.SetPinMode(SetPinModeStateCodes.OutputStateCode);
emergencyStop.SetPin(true);
}
public void LoadJointProfiles()
{
// RBakerFlag -> TEST CODE!
PinMapping cw = new PinMapping(9, "clockwise");
PinMapping ccw = new PinMapping(10, "anti-clockwise");
arduinoSerialPort.ComponentMappings.Add(cw);
arduinoSerialPort.ComponentMappings.Add(ccw);
cw.SetPinMode(SetPinModeStateCodes.OutputStateCode);
ccw.SetPinMode(SetPinModeStateCodes.OutputStateCode);
Joint joint = new Joint(cw, ccw, JointType.ElbowRight);
joints.Add(joint);
}
public void LoadJointProfiles()
{
// RBakerFlag -> TEST CODE!
PinMapping cw = new PinMapping(9, "clockwise");
PinMapping ccw = new PinMapping(10, "anti-clockwise");
arduinoSerialPort.ComponentMappings.Add(cw);
arduinoSerialPort.ComponentMappings.Add(ccw);
cw.SetPinMode(SetPinModeStateCodes.OutputStateCode);
ccw.SetPinMode(SetPinModeStateCodes.OutputStateCode);
Joint joint = new Joint(cw, ccw, JointType.ElbowRight);
joints.Add(joint);
}
public Wrist(PinMapping cwPinMapping, PinMapping ccwPinMapping)
{
this.smartPinMapping = new SmartPinMapping(cwPinMapping, ccwPinMapping, new SkynetUtilities.FeedbackRecievedEventHandler(PinFeedbackRecievedEventHandler));
}
public Joint(PinMapping cwPinMapping, PinMapping ccwPinMapping, JointType jointType)
{
this.smartPinMapping = new SmartPinMapping(cwPinMapping, ccwPinMapping, new SkynetUtilities.FeedbackRecievedEventHandler(PinFeedbackRecievedEventHandler));
this.jointType = jointType;
}
public Wrist(PinMapping cwPinMapping, PinMapping ccwPinMapping)
{
this.smartPinMapping = new SmartPinMapping(cwPinMapping, ccwPinMapping, new SkynetUtilities.FeedbackRecievedEventHandler(PinFeedbackRecievedEventHandler));
}
public Joint(PinMapping cwPinMapping, PinMapping ccwPinMapping, JointType jointType)
{
this.smartPinMapping = new SmartPinMapping(cwPinMapping, ccwPinMapping, new SkynetUtilities.FeedbackRecievedEventHandler(PinFeedbackRecievedEventHandler));
this.jointType = jointType;
}
public void InitializeArduino()
{
serialPort = new ArduinoSerialPort("COM5", 115200);
serialPort.Open();
cwAnalogPinMapping = new PinMapping(11);
ccwAnalogPinMapping = new PinMapping(10);
eStop = new PinMapping(8);
serialPort.ComponentMappings.Add(cwAnalogPinMapping);
serialPort.ComponentMappings.Add(ccwAnalogPinMapping);
serialPort.ComponentMappings.Add(eStop);
cwAnalogPinMapping.SetPinMode(SetPinModeStateCodes.OutputStateCode);
cwAnalogPinMapping.SetPinMode(SetPinModeStateCodes.OutputStateCode);
eStop.SetPinMode(SetPinModeStateCodes.OutputStateCode);
eStop.SetPin(true);
}
