public Radio_Series1(Robot robo, string portName)
{
robot = robo;
UIAnalogVals = new int[(int)INTERFACEPACKET.ANALOG_BYTES];
UIDigitalVals = new bool[(int)INTERFACEPACKET.DIGITAL_BYTES * 8];
state = RadioState.IDLE;
port = new SerialPort(portName, 9600, Parity.None, 8, StopBits.One);
port.ReadTimeout = 2;
port.Open();
data = new InterfacePacket((byte)INTERFACEPACKET.IDENT, (int)INTERFACEPACKET.ANALOG_BYTES, (int)INTERFACEPACKET.DIGITAL_BYTES);
telemetry = new TelemetryPacket((byte)TELEMETRYPACKET.IDENT, (int)TELEMETRYPACKET.ANALOG_BYTES, (int)TELEMETRYPACKET.DIGITAL_BYTES);
buffer = new byte[512];
receiver = new XBeeInterfaceReceiver(this);
frame = 0;
}
private XBeeInterfaceReceiver receiver; /** Parses the packet received by the XBee and pulls the data out. */
#endregion Fields
#region Constructors
/** Constructor for the Radio class.
* @param port The name of the port for the radio to listen and send data on. */
public Radio(string portName)
{
port = new SerialPort(portName, 57600, Parity.None, 8, StopBits.One); // baud rate second argument for SerialPort, try 57600, 19200, 38400, 57600
port.ReadTimeout = 2; // 2 milliseconds, very short read timeout (default is 500)
port.Open();
buffer = new byte[512];
receiver = new XBeeInterfaceReceiver(this);
inData = new IncomingData((byte)INCOMING_DATA.IDENT, (int)INCOMING_DATA.ANALOG_BYTES, (int)INCOMING_DATA.DIGITAL_BYTES);
outData = new OutgoingData((byte)OUTGOING_DATA.IDENT, (int)OUTGOING_DATA.ANALOG_BYTES, (int)OUTGOING_DATA.DIGITAL_BYTES);
UIAnalogVals = new int[(int)INCOMING_DATA.ANALOG_BYTES];
UIDigitalVals = new bool[(int)OUTGOING_DATA.DIGITAL_BYTES * 8];
frame = 0;
}