public KinectTester()
{
InitializeComponent();
sensor = new SmartKinectSensor();
renderCanvas = new RenderCanvas(TimeSpan.FromSeconds(10));
sensor.EnableSkeletonRenderingSensor();
renderCanvas.ImageRendered += DisplayRenderedImage;
capturedLabel.Visible = false;
jointController = new JointController();
gestureController = new GestureController();
skeletonRender = new SkeletonRenderer(sensor.Sensor);
sensor.SkeletonController.AddFunction(jointController);
sensor.SkeletonController.AddFunction(gestureController);
sensor.SkeletonController.AddFunction(skeletonRender);
skeletonRender.SkeletonRendered += renderCanvas.SkeletonFrameCaptured;
gestureController.GestureCaptured += GestureCaptured;
jointController.JointTrackingCaptured += JointTrackingCaptured;
ArduinoSerialPort serialPort = new ArduinoSerialPort("COM5", 115200);
serialPort.Open();
bodyTracker = new KinectBodyTracker(sensor, serialPort);
GestureBuilderForm test = new GestureBuilderForm(sensor);
test.Show();
// InitializeArduino();
}
private void ArduinoSetup()
{
ledON = false;
toggleLED.BackColor = Color.Red;
serialPort = new ArduinoSerialPort("COM5", 115200);
serialPort.Open();
cwAnalogPinMapping = new PinMapping(11);
ccwAnalogPinMapping = new PinMapping(10);
pinMapping = new PinMapping(13);
eStop = new PinMapping(8);
serialPort.ComponentMappings.Add(cwAnalogPinMapping);
serialPort.ComponentMappings.Add(ccwAnalogPinMapping);
serialPort.ComponentMappings.Add(pinMapping);
serialPort.ComponentMappings.Add(eStop);
cwAnalogPinMapping.SetPinMode(SetPinModeStateCodes.OutputStateCode);
cwAnalogPinMapping.SetPinMode(SetPinModeStateCodes.OutputStateCode);
pinMapping.SetPinMode(SetPinModeStateCodes.OutputStateCode);
eStop.SetPinMode(SetPinModeStateCodes.OutputStateCode);
pinMapping.FeedbackEvent += new SkynetUtilities.FeedbackRecievedEventHandler(ResponsePackageRecieved);
this.replyPackageTextBox.Text = "0";
eStop.SetPin(true);
stopped = false;
}
public KinectBodyTracker(SmartKinectSensor smartSensor, ArduinoSerialPort arduinoSerialPort)
{
this.skeletonController = smartSensor.SkeletonController;
this.arduinoSerialPort = arduinoSerialPort;
this.joints = new Joints();
this.previousTimeStamp = DateTime.MinValue;
this.frameCount = 0;
CreateEmergencyStop();
LoadJointProfiles();
ConnectSkeletonController();
}
public void InitializeArduino()
{
serialPort = new ArduinoSerialPort("COM5", 115200);
serialPort.Open();
cwAnalogPinMapping = new PinMapping(11);
ccwAnalogPinMapping = new PinMapping(10);
eStop = new PinMapping(8);
serialPort.ComponentMappings.Add(cwAnalogPinMapping);
serialPort.ComponentMappings.Add(ccwAnalogPinMapping);
serialPort.ComponentMappings.Add(eStop);
cwAnalogPinMapping.SetPinMode(SetPinModeStateCodes.OutputStateCode);
cwAnalogPinMapping.SetPinMode(SetPinModeStateCodes.OutputStateCode);
eStop.SetPinMode(SetPinModeStateCodes.OutputStateCode);
eStop.SetPin(true);
}