public static void Main(string[] args)
{
if (args != null && args.Length > 0)
{
SERVER_IP = args[0];
Console.WriteLine("Using argument Specified IP of: " + SERVER_IP);
}
else
{
Console.WriteLine("Using default IP of: " + SERVER_IP);
}
Quit = false;
InitBeagleBone();
SetupClient();
MotorControl.Initialize();
//MotorBoards.Initialize(CANBBB.CANBus0);
int count = 0;
Console.WriteLine("Finished the initalize");
do
{
Console.WriteLine("Looping");
SendSensorData(count);
ProcessInstructions();
Thread.Sleep(50);
count++;
if (count == 101)
{
count = 0;
}
} while (!Quit);
}
public static void Main(string[] args)
{
if (args.Length > 0)
{
if (args[0].Equals("turn"))
{
turnMode = true;
}
else if (args[0].Equals("line"))
{
lineMode = true;
}
}
double SetTurn = 0;
double PTurn = 1;
double ITurn = 0;
double DTurn = 0;
double SetDis = 1;
double PDis = 1;
double IDis = 0;
double DDis = 0;
UdpClient udpServer = new UdpClient(9000);
IPEndPoint remoteEP = new IPEndPoint(IPAddress.Any, 9000);
/*
* try
* { // Open the text file using a stream reader.
* using (StreamReader sr = new StreamReader("PIDValues.txt"))
* {
* // Read the stream to a string, and write the string to the console.
* sr.ReadLine();
* sr.ReadLine(); // Ignore first two lines
* SetTurn = Convert.ToDouble(sr.ReadLine());
* PTurn = Convert.ToDouble(sr.ReadLine());
* ITurn = Convert.ToDouble(sr.ReadLine());
* DTurn = Convert.ToDouble(sr.ReadLine());
* sr.ReadLine();
* SetDis = Convert.ToDouble(sr.ReadLine());
* PDis = Convert.ToDouble(sr.ReadLine());
* IDis = Convert.ToDouble(sr.ReadLine());
* DDis = Convert.ToDouble(sr.ReadLine());
* }
* }
* catch (Exception e)
* {
* Console.WriteLine("PIDValues.txt is either missing or in improper format:");
* Console.WriteLine(e.Message);
* }
*/
PID directionPID = new PID(PTurn, ITurn, DTurn);
directionPID.SetTarget(SetTurn);
PID distancePID = new PID(PDis, IDis, DDis);
directionPID.SetTarget(SetDis);
Quit = false;
InitBeagleBone();
//SetupClient();
MotorControl.Initialize();
MotorBoards.Initialize(CANBBB.CANBus0);
int count = 0;
do
{
//SendSensorData(count);
//ProcessInstructions();
followTennisBall(udpServer, remoteEP, directionPID, distancePID);
Thread.Sleep(50);
count++;
if (count == 101)
{
count = 0;
}
} while (!Quit);
}