コード例 #1
0
        public ControllerForm(SshClient sshClient, NetworkDevice device)
        {
            InitializeComponent();

            pBox_video.SizeMode = PictureBoxSizeMode.StretchImage;
            this.Text           = device.Name;

            sshConsole = new SSHConsole(sshClient, rtxBox, label_Ping);
            sshConsole.SSHException += SshConsole_SSHException;

            camera           = new MJPEGStream("http://" + device.IP.ToString() + ":8080/?action=stream");
            camera.NewFrame += new NewFrameEventHandler(Video_newFrame);

            sshConsole.WriteLine("cd AlphaBot2/mjpg-streamer/mjpg-streamer-experimental/");
            sshConsole.WriteLine("nohup ./start.sh &");
            sshConsole.WriteLine("cd");

            camera.Start();

            controller = new AlphaBot2Controller(sshConsole);
        }
コード例 #2
0
        public AlphaBot2Controller(SSHConsole console)
        {
            cameraXPriority       = new LinkedList <Keys>();
            cameraYPriority       = new LinkedList <Keys>();
            movementPriority      = new LinkedList <Keys>();
            cameraControlTimer    = new System.Timers.Timer();
            cameraXCommandBuilder = new StringBuilder();
            cameraYCommandBuilder = new StringBuilder();

            this.console = console;

            console.WriteLine("cd AlphaBot2/python/");
            console.WriteLine("python -i");
            console.WriteLine("import AlphaBot2");
            console.WriteLine("import PCA9685");
            console.WriteLine("move = AlphaBot2.AlphaBot2()");
            console.WriteLine("camera = PCA9685.PCA9685(0x40, debug = False)");
            console.WriteLine("camera.setPWMFreq(50)");

            cameraControlTimer.Interval = 20;
            cameraControlTimer.Elapsed += onTimerElapsed;
            cameraControlTimer.Start();
        }