public ArduinoModel(TeamDataModel teamData1, TeamDataModel teamData2)
{
SetConnection();
if (_comOK)
{
_session = new ArduinoSession(_connection);
_keepAliveTimer = new Timer(Constants.keepAliveInterval)
{
AutoReset = true
};
_keepAliveTimer.Elapsed += _keepAliveTimer_Elapsed;
_keepAliveTimer.Start();
//_session.SetSamplingInterval(400);
_session.SetDigitalPinMode(Constants.rlimb, PinMode.InputPullup);
_session.SetDigitalPinMode(Constants.rlimf, PinMode.InputPullup);
_session.SetDigitalPinMode(Constants.blimb, PinMode.InputPullup);
_session.SetDigitalPinMode(Constants.blimf, PinMode.InputPullup);
_session.SetDigitalReportMode(Constants.limitSwitchPort, true);
var tracker = _session.CreateDigitalStateMonitor(Constants.limitSwitchPort);
teamData1.TeamControl.BackLimSwitch.Subscribe(tracker);
teamData1.TeamControl.FrontLimSwitch.Subscribe(tracker);
teamData2.TeamControl.BackLimSwitch.Subscribe(tracker);
teamData2.TeamControl.FrontLimSwitch.Subscribe(tracker);
//use code below to enable event managed pin updates
//_session.DigitalStateReceived += DigitalStateReceivedHandler;
}
//Subscribe to controllable data changes
//Planned: publish sensor updates using TeamSensor object in teamData
_teamData1 = teamData1;
_teamData1.TeamControl.HoverLed.PropertyChanged += OnLedChanged;
_teamData1.TeamControl.Obstacle1Led.PropertyChanged += OnLedChanged;
_teamData1.TeamControl.Obstacle2Led.PropertyChanged += OnLedChanged;
_teamData1.TeamControl.Platform1Led.PropertyChanged += OnLedChanged;
_teamData1.TeamControl.Platform2Led.PropertyChanged += OnLedChanged;
_teamData1.TeamControl.StartLed.PropertyChanged += OnLedChanged;
_teamData1.TeamControl.Motor.PropertyChanged += OnMotorChanged;
_teamData2 = teamData2;
_teamData2.TeamControl.HoverLed.PropertyChanged += OnLedChanged;
_teamData2.TeamControl.Obstacle1Led.PropertyChanged += OnLedChanged;
_teamData2.TeamControl.Obstacle2Led.PropertyChanged += OnLedChanged;
_teamData2.TeamControl.Platform1Led.PropertyChanged += OnLedChanged;
_teamData2.TeamControl.Platform2Led.PropertyChanged += OnLedChanged;
_teamData2.TeamControl.StartLed.PropertyChanged += OnLedChanged;
_teamData2.TeamControl.Motor.PropertyChanged += OnMotorChanged;
}
