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(); }