public static async Task Main(string[] args)
{
Console.WriteLine("Opening connection to Mindstorms EV3 brick using USB");
//using (BluetoothCommunication communication = new BluetoothCommunication("COM0"))
//using (NetworkCommunication communication = new NetworkCommunication("0.0.0.0"))
using (UsbCommunication communication = new UsbCommunication())
using (MindstormsClient <UsbCommunication> client = new MindstormsClient <UsbCommunication>(communication))
{
Console.WriteLine("Connecting");
await client.ConnectAsync();
Console.WriteLine("Direct command");
await client.TurnMotorAtPowerForTimeAsync(OutputPort.A, 50, 3000u, false);
System.Console.WriteLine("System command");
await client.PlayToneAsync(50, 5000, 500);
System.Console.WriteLine("Batch commands");
var command = new Command();
command.TurnMotorAtPowerForTime(OutputPort.A, 50, 2500, false);
command.PlayTone(50, 1000, 5000);
await client.SendCommandAsync(command);
}
System.Console.WriteLine("Done...");
}
/// <summary>
/// Verbindet mit dem Lego Brink, nach auswählen der Verbindung
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void buttonVerbinden_Click(object sender, RoutedEventArgs e)
{
ComboBoxItem aComboBoxItem = comboBoxCommunication1.SelectedItem as ComboBoxItem;
if (aComboBoxItem.Content.ToString() == "USB")
{
UsbCommunication aUsbCommunication = new UsbCommunication();
brick = new Brick(aUsbCommunication, true);
}
else
{
BluetoothCommunication aBluetoothCommunication1 = new BluetoothCommunication(comboBoxComPort1.SelectedValue.ToString());
brick = new Brick(aBluetoothCommunication1, true);
}
// ---
try
{
aTask = brick.ConnectAsync();
lblStatusBarMessage1.Text = aTask.Status.ToString();
if (aTask.Status != TaskStatus.Faulted)
{
gridBottom1.Visibility = Visibility.Visible;
}
}
catch (Exception ex)
{
lblStatusBarMessage1.Text = "Exception: " + ex.Message;
}
}
public static void Main(string[] _)
{
var comm =
new UsbCommunication("EV3OLAV");
var responseManager =
new ResponseManager();
var brick =
new Brick(comm, responseManager);
var obs =
brick
.Connect()
.Select(x => x.Ports[InputPort.Three])
.Do(port => Console.WriteLine($"Sensor in port 3: ({port.Name}, {port.Type}, {port.RawValue})"));
var command =
brick.CreateCommand(CommandType.DirectNoReply, 0, 0);
command.StartMotor(OutputPort.A);
command.TurnMotorAtPowerForTime(OutputPort.A, 75, 1000, false);
var subscription =
brick
.SendCommand(command)
.Do(__ => Console.WriteLine("Waiting for command to finish..."))
.Subscribe();
using (subscription)
using (obs.Subscribe())
{
Console.WriteLine("Press any key to continue...");
Console.ReadKey();
}
}
private async void BoutonConnexion(object sender, RoutedEventArgs e)
{
String contenuCombo = mComboBoxTypeConnexion.SelectedItem.ToString();
ICommunication communication;
String mode = null;
// Trouver le mode de connexion
switch (contenuCombo)
{
case BT:
communication = new BluetoothCommunication(mTextBoxComport.Text);
mode = BT;
break;
case USB:
communication = new UsbCommunication();
mode = USB;
break;
default:
communication = null;
break;
}
// Connexion
if (communication != null)
{
GestionRobot.getInstance().brick = new Brick(communication, true);
try
{
await GestionRobot.getInstance().brick.ConnectAsync();
TextBlockStatus.Text = String.Format("Robot Lego : Connecté en : {0}", mode);
Close();
}
catch (Exception)
{
MessageBox.Show("Could not connect", "Error", MessageBoxButton.OK);
}
}
else
{
MessageBox.Show("Invalid connection type for this device", "Error", MessageBoxButton.OK);
}
}
private ICommunication CreateConnection()
{
ICommunication returnType = null;
switch (ConnControl.GetConnectionType())
{
case ConnectionType.Bluetooth:
returnType = new BluetoothCommunication(ConnControl.GetComportNumber());
break;
case ConnectionType.Usb:
returnType = new UsbCommunication();
break;
case ConnectionType.WiFi:
returnType = new NetworkCommunication(ConnControl.GetIpAddress());
break;
}
return(returnType);
}
private ICommunication CreateConnection()
{
ICommunication returnType = null;
switch (ConnControl.GetConnectionType())
{
case ConnectionType.Bluetooth:
//returnType = new BluetoothCommunication(ConnControl.GetComportNumber());
//break;
throw new NotSupportedException("Bluetooth is not supported at the moment");
case ConnectionType.Usb:
returnType = new UsbCommunication();
break;
case ConnectionType.WiFi:
returnType = new NetworkCommunication(ConnControl.GetIpAddress());
break;
}
return(returnType);
}
/// <summary>
/// Entry point.
/// </summary>
/// <param name="args">Command line args.</param>
public static void Main(string[] args)
{
Console.WriteLine("Initializing FunkinCTRL...");
ICommunication ic;
Console.WriteLine("Select communication method:\n-- For USB, press 0\n-- For Bluetooth, press 1");
switch (Console.ReadKey(true).KeyChar)
{
case '1':
// TODO: Find a better implementation.
Console.WriteLine("Enter the COM-port data.");
ic = new BluetoothCommunication(Console.ReadLine());
break;
case '0':
ic = new UsbCommunication();
break;
default:
Console.WriteLine("Unrecognized input, selecting USB communication.");
ic = new UsbCommunication();
break;
}
Console.WriteLine("Connecting to EV3 controller...");
b = new Brick(ic, true);
TimeSpan ts = new TimeSpan(TimeSpan.TicksPerSecond / RequestFrequency);
b.ConnectAsync(ts);
Thread.Sleep(2000);
b.BatchCommand.PlayTone(5, 440, 300);
b.BatchCommand.SendCommandAsync();
b.ConnectAsync(ts);
Thread.Sleep(1000);
if (b.Ports[InputPort.D].Type != DeviceType.MMotor || b.Ports[InputPort.One].Type != DeviceType.Touch || b.Ports[InputPort.Four].Type != DeviceType.Infrared)
{
Console.WriteLine("Unable to connect to controller or controller layout is incorrect.");
Console.ReadKey(true);
Environment.Exit(-1);
}
Console.WriteLine("Setup complete. Press center button on your controller to continue.");
while (!b.Buttons.Enter)
{
}
while (!b.Buttons.Down)
{
Single touch = b.Ports[InputPort.One].SIValue;
Single ir = b.Ports[InputPort.Four].SIValue;
Single motor = b.Ports[InputPort.D].SIValue;
String title = String.Format("FunkinCTRL -- Controls engaged // D -- {0}:{1}, #1 -- {2}:{3}, #4 -- {4}:{5} // Press DOWN button to exit loop.", b.Ports[InputPort.D].Type, motor, b.Ports[InputPort.One].Type, touch, b.Ports[InputPort.Four].Type, ir);
Console.Title = title;
ParseControllerInputs(touch, ir);
EscapeKey.IsDown = b.Buttons.Up;
EnterKey.IsDown = b.Buttons.Enter;
}
b.Disconnect();
Console.Error.WriteLine("Program ended.");
Console.Write("Press any key to continue . . . ");
Console.ReadKey(true);
}
