/// <summary>
/// The constructor.
/// </summary>
public Robot()
{
serial_port = new SerialPort();
serial_port.BaudRate = 115200 / 4;
serial_port.DataBits = 8;
serial_port.Parity = Parity.None;
serial_port.StopBits = StopBits.One;
serial_port.ReadTimeout = 500;
serial_port.WriteTimeout = 500;
serial_port.Handshake = Handshake.None;
API = new NXT.API.API(this);
DeviceInfo = new DeviceInfo(this);
InPort1 = new InPort(this);
InPort1.Number = 0;
InPort2 = new InPort(this);
InPort2.Number = 1;
InPort3 = new InPort(this);
InPort3.Number = 2;
InPort4 = new InPort(this);
InPort4.Number = 3;
OutPortA = new OutPort(this);
OutPortA.Number = 0;
OutPortB = new OutPort(this);
OutPortB.Number = 1;
OutPortC = new OutPort(this);
OutPortC.Number = 2;
OutPortAll = new OutPort(this);
OutPortAll.Number = 0xFF;
}
/// <summary>
/// Will try and connect to a specific ComPort
/// </summary>
/// <param name="port_name"></param>
/// <returns></returns>
private bool Connect(string port_name)
{
serial_port = new CSerialPort();
DeviceInfo = new CDeviceInfo(serial_port);
InPort1 = new InPort(serial_port, 0, SensorType.Switch);
InPort2 = new InPort(serial_port, 1, SensorType.SoundDB);
InPort3 = new InPort(serial_port, 2, SensorType.LightActive);
InPort4 = new InPort(serial_port, 3, SensorType.Sonar);
OutPortA = new OutPort(serial_port, MotorPort.MotorA);
OutPortB = new OutPort(serial_port, MotorPort.MotorB);
OutPortC = new OutPort(serial_port, MotorPort.MotorC);
OutPortAll = new OutPort(serial_port, MotorPort.MotorAll);
comPort = port_name;
Info = new Details(serial_port);
DirectCommands = new Direct_Commands(serial_port);
if (!serial_port.Connect(port_name))
return false;
if (!serial_port.Send(DirectCommand.KeepAlive))
{
NXTDisconnect();
return false;
}
connected = true;
return true;
}
/// <summary>
/// The constructor.
/// </summary>
public Robot()
{
serial_port = new SerialPort();
serial_port.BaudRate = 115200 / 4;
serial_port.DataBits = 8;
serial_port.Parity = Parity.None;
serial_port.StopBits = StopBits.One;
serial_port.ReadTimeout = 500;
serial_port.WriteTimeout = 500;
serial_port.Handshake = Handshake.None;
API = new NXT.API.API(this);
DeviceInfo = new DeviceInfo(this);
InPort1 = new InPort(this);
InPort1.Number = 0;
InPort2 = new InPort(this);
InPort2.Number = 1;
InPort3 = new InPort(this);
InPort3.Number = 2;
InPort4 = new InPort(this);
InPort4.Number = 3;
OutPortA = new OutPort(this);
OutPortA.Number = 0;
OutPortB = new OutPort(this);
OutPortB.Number = 1;
OutPortC = new OutPort(this);
OutPortC.Number = 2;
OutPortAll = new OutPort(this);
OutPortAll.Number = 0xFF;
}
