private void btnRainbow_Click(object sender, RoutedEventArgs e)
{
Macro rainbowMacro = new Macro(MacroType.Temporary, 255);
rainbowMacro.Commands.Add(new LoopStartMacroCommand() { Count = 5 });
rainbowMacro.Commands.Add(new FadeToLEDOverTimeMacroCommand()
{
Red = 0xFF,
Green = 0,
Blue = 0,
Time = 200
});
rainbowMacro.Commands.Add(new DelayMacroCommand { Time = 200 });
rainbowMacro.Commands.Add(new FadeToLEDOverTimeMacroCommand()
{
Red = 0xFF,
Green = 0x7E,
Blue = 0x6D,
Time = 200
});
rainbowMacro.Commands.Add(new DelayMacroCommand { Time = 200 });
rainbowMacro.Commands.Add(new FadeToLEDOverTimeMacroCommand()
{
Red = 0x7F,
Green = 0xFF,
Blue = 0x00,
Time = 200
});
rainbowMacro.Commands.Add(new DelayMacroCommand { Time = 200 });
rainbowMacro.Commands.Add(new FadeToLEDOverTimeMacroCommand()
{
Red = 0x00,
Green = 0xFF,
Blue = 0x00,
Time = 200
});
rainbowMacro.Commands.Add(new DelayMacroCommand { Time = 200 });
rainbowMacro.Commands.Add(new FadeToLEDOverTimeMacroCommand()
{
Red = 0xDE,
Green = 0x00,
Blue = 0xFF,
Time = 200
});
rainbowMacro.Commands.Add(new DelayMacroCommand { Time = 200 });
rainbowMacro.Commands.Add(new LoopEndMacroCommand());
_spheroDevice.SaveTemporaryMacro(rainbowMacro, response =>
{
if(response == MessageResponseCode.ORBOTIX_RSP_CODE_OK)
{
_spheroDevice.RunTemporaryMacro(null);
}
});
}
public async Task Start()
{
var spheros = await SpheroConnectionProvider.DiscoverSpheros();
var sphero = spheros.FirstOrDefault();
if (sphero != null)
{
var connection = await SpheroConnectionProvider.CreateConnection(sphero);
if (connection != null)
{
connection.OnDisconnection += () => Tracer.Trace("Sphero disconnected");
_device = new SpheroDevice(connection);
Tracer.Trace("Sphero connected");
_device.ReinitMacroExecutive(response =>
{
if (response == MessageResponseCode.ORBOTIX_RSP_CODE_OK)
{
var flipMacro = new Macro(MacroType.Permanent, FLIP_MACRO);
flipMacro.Commands.Add(new SendRawMotorMacroCommand
{
LeftMode = MotorMode.Forward,
LeftPower = 255,
RightMode = MotorMode.Forward,
RightPower = 255,
PCD = 255
});
flipMacro.Commands.Add(new DelayMacroCommand { Time = 150 });
flipMacro.Commands.Add(new SendRawMotorMacroCommand
{
LeftMode = MotorMode.Off,
LeftPower = 0,
RightMode = MotorMode.Off,
RightPower = 0,
PCD = 255
});
flipMacro.Commands.Add(new SetStabilizationMacroCommand
{
Flag = StabilizationStatus.OnWithoutReset,
PCD = 255
});
_device.SaveMacro(flipMacro, null);
Tracer.Trace("Flip macro stored");
}
});
return;
}
}
Tracer.Error("Sphero not found");
}
public MacroPage()
{
InitializeComponent();
if (App.CurrentConnection != null)
{
MessageBox.Show(string.Format("Connected to {0}", App.CurrentConnection.BluetoothName));
_spheroDevice = new SpheroDevice(App.CurrentConnection);
_spheroDevice.ReinitMacroExecutive(response =>
{
if (response == MessageResponseCode.ORBOTIX_RSP_CODE_OK)
{
Macro flipMacro = new Macro(MacroType.Permanent, 102);
flipMacro.Commands.Add(new SendRawMotorMacroCommand
{
LeftMode = MotorMode.Forward,
LeftPower = 255,
RightMode = MotorMode.Forward,
RightPower = 255,
PCD = 255
});
flipMacro.Commands.Add(new DelayMacroCommand { Time = 150 });
flipMacro.Commands.Add(new SendRawMotorMacroCommand
{
LeftMode = MotorMode.Off,
LeftPower = 0,
RightMode = MotorMode.Off,
RightPower = 0,
PCD = 255
});
flipMacro.Commands.Add(new SetStabilizationMacroCommand
{
Flag = StabilizationStatus.OnWithoutReset,
PCD = 255
});
_spheroDevice.SaveMacro(flipMacro, null);
}
});
}
else
NavigationService.GoBack();
}
public void Spin()
{
if (_device == null)
{
throw new InvalidOperationException("Sphero not connected yet...");
}
//_device.RunMacro(FLIP_MACRO, null);
var spinMacro = new Macro(MacroType.Temporary, 255);
spinMacro.Commands.Add(new LoopStartMacroCommand
{
Count = 30
});
spinMacro.Commands.Add(new RotateOverTimeMacroCommand
{
Angle = 360,
Time = 200
});
spinMacro.Commands.Add(new DelayMacroCommand
{
Time = 200
});
spinMacro.Commands.Add(new LoopEndMacroCommand { });
_device.SaveTemporaryMacro(spinMacro, response =>
{
if (response == MessageResponseCode.ORBOTIX_RSP_CODE_OK)
{
_device.RunTemporaryMacro(code => Tracer.Trace($"RunTemporaryMacro {code}"));
}
});
}
/// <summary>
/// This stores the attached macro definition into the temporary RAM buffer for later execution.
/// </summary>
/// <param name="macro">Macro to save temporary</param>
public void SaveTemporaryMacro(Macro macro, Action<MessageResponseCode> callback)
{
CommandPacket command = new CommandPacket(0xFF, DeviceIDs.SPHERO, CommandIDs.Sphero.SAVE_TEMPORARY_MACRO, macro.ToArray());
_connection.SendCommand(command, response =>
{
if(callback != null)
{
callback(response.ResponseCode);
}
});
}
