private void InitializeCrazyflie()
{
try
{
WriteToConsole("Initializing Crazyflie...");
//BasicConfigurator.Configure();
crazyradioDriver = SetupCrazyflieDriver();
crazyRadioMessenger = new CrazyradioMessenger(crazyradioDriver);
thrustYawTimer.Tick += thrustYawTimer_Tick;
pitchRollTimer.Tick += pitchRollTimer_Tick;
normalizeTimer.Tick += normalizeTimer_Tick;
pitchRollTimer.Start();
WriteToConsole("Crazyflie intilization successful.");
}
catch (Exception ex)
{
WriteToConsole("Error controlling Crazyradio.");
}
}
private static void Main(string[] args)
{
SetUpLogging();
IEnumerable <ICrazyradioDriver> crazyradioDrivers = null;
try
{
Log.Debug("Starting Crazyradio USB dongle tests.");
crazyradioDrivers = CrazyradioDriver.GetCrazyradios();
}
catch (Exception ex)
{
Log.Error("Error getting Crazyradios.", ex);
}
if (crazyradioDrivers != null && crazyradioDrivers.Any())
{
var crazyradioDriver = crazyradioDrivers.First();
try
{
crazyradioDriver.Open();
var scanResults = crazyradioDriver.ScanChannels();
if (scanResults.Any())
{
var firstScanResult = scanResults.First();
var dataRateWithCrazyflie = firstScanResult.DataRate;
var channelWithCrazyflie = firstScanResult.Channels.First();
crazyradioDriver.DataRate = dataRateWithCrazyflie;
crazyradioDriver.Channel = channelWithCrazyflie;
var pingPacket = new PingPacket();
var pingPacketBytes = pingPacket.GetBytes();
var crazyRadioMessenger = new CrazyradioMessenger(crazyradioDriver);
var loop = true;
while (loop)
{
// test 2 (using CTRP lib)
{
Log.InfoFormat("Ping Packet Bytes: {0}", BitConverter.ToString(pingPacketBytes));
var ackPacket = crazyRadioMessenger.SendMessage(new PingPacket());
var ackPacketBytes = ackPacket.GetBytes();
Log.InfoFormat("ACK Response Bytes (using CTRP): {0}", BitConverter.ToString(ackPacketBytes));
}
if (Console.KeyAvailable && Console.ReadKey().Key == ConsoleKey.Spacebar)
{
loop = false;
}
}
}
else
{
Log.Warn("No Crazyflie Quadcopters found!");
}
}
catch (Exception ex)
{
Log.Error("Error testing Crazyradio.", ex);
}
finally
{
crazyradioDriver.Close();
}
}
else
{
Log.Warn("No Crazyradio USB dongles found!");
}
Log.Info("Sleepy time...Hit space to exit.");
var sleep = true;
while (sleep)
{
if (Console.KeyAvailable && Console.ReadKey().Key == ConsoleKey.Spacebar)
{
sleep = false;
}
}
}
