public Servo(ref Arduino myArduino, int Digital_Pin, int MaxAngle = 180, int MinAngle = 0)
{
this.Angle = 90;
this.myArduino = myArduino;
this.Digital_Pin = Digital_Pin;
this.myArduino.ServoAttach(Digital_Pin);
this.MaxAngle = MaxAngle;
this.MinAngle = MinAngle;
}
public Base()
{
var comports = SerialPort.GetPortNames();
if (comports.Length == 0)
{
throw new Exception("Error: No COM ports found");
}
for (int i = 0; i < comports.Length; i++)
{
try
{
Mega2560 = new Arduino(comports[i]);
break;
}
catch (Exception) {}
}
ForceSensor = new ResistiveForce(Mega2560, Force_Analog_Pin);
DistanceSensor = new SharpIR(Mega2560, Distance_Analog_Pin);
LightSensor = new Sensor(Mega2560, Light_Analog_Pin);
Webcam = new Capture();
Dictionary = new SpeechDictionary();
Webcam.SetCaptureProperty(CAP_PROP.CV_CAP_PROP_FRAME_WIDTH, 1280);
Webcam.SetCaptureProperty(CAP_PROP.CV_CAP_PROP_FRAME_HEIGHT, 720); // set cam resolution to 720P
Webcam.QueryFrame(); // take a test photo
Webcam.ImageGrabbed += new EventHandler(Webcam_ImageGrabbed);
XboxController = new Controller(UserIndex.One);
xAxisServo = new Servo(ref Mega2560, xServoPin);
yAxisServo1 = new Servo(ref Mega2560, y1ServoPin, y1ServoMax, y1ServoMin);
yAxisServo2 = new Servo(ref Mega2560, y2ServoPin, y2ServoMax, y2ServoMin);
gripperServo = new Servo(ref Mega2560, gripServoPin, gripServoMax, gripServoMin);
xAxisServo.ServoAngleChange(xServoStart);
yAxisServo1.ServoAngleChange(y1ServoStart);
yAxisServo2.ServoAngleChange(y2ServoStart);
gripperServo.ServoAngleChange(gripServoStart);
SpeechEngine = new SpeechRecognition.Base();
}
protected Arduino myArduino; // the arduino that is hooked up to the sensor
#endregion Fields
#region Constructors
public Sensor(Arduino Board, int Pin)
{
this.myArduino = Board;
this.analogPin = Pin;
}
public ResistiveForce(Arduino Board, int Pin)
: base(Board, Pin)
{
}
public SharpIR(Arduino Board, int Pin)
: base(Board, Pin)
{
}
