/// <summary>
/// Constructor to be called by Student Code.
/// Creates the radio's and student code's threads.
/// </summary>
public Master(RobotCode s)
{
// Makes this robot run the student's code
student = s;
robot = s.getRobot();
// Create and set radio threads
rfPollThread = new Thread(RunRFPoll);
rfPollThread.Priority = ThreadPriority.AboveNormal;
rfTeleThread = new Thread(RunRFTele);
rfTeleThread.Priority = ThreadPriority.AboveNormal;
// Create and set student code threads
studentCodeThread = new Thread(RunStudent);
studentCodeThread.Priority = ThreadPriority.AboveNormal;
autonomousThread = new Thread(RunAutono);
autonomousThread.Priority = ThreadPriority.BelowNormal;
// Initialize LEDs
robot.yellowLED = new OutputPort((Cpu.Pin)FEZ_Pin.Digital.IO59, false);
robot.redLED = new OutputPort((Cpu.Pin)FEZ_Pin.Digital.IO60, false);
// Disable
Debug.EnableGCMessages(false);
// Run the robot once to initialize
robot.Run();
}
/// <summary>
/// Main method which initializes the robot, and creates
/// the radio's and student code's threads. Begins running
/// the threads, and then runs the robot thread indefinitely.
/// </summary>
public static void Main()
{
/*AnalogIn GyroX = new AnalogIn(AnalogIn.Pin.Ain0);
AnalogIn GyroZ = new AnalogIn(AnalogIn.Pin.Ain1);
AnalogIn AccelerometerX = new AnalogIn(AnalogIn.Pin.Ain2);
AnalogIn AccelerometerY = new AnalogIn(AnalogIn.Pin.Ain3);
AnalogIn AccelerometerZ = new AnalogIn(AnalogIn.Pin.Ain4);
while (true)
{
Thread.Sleep(250);
Debug.Print("GyroX: " + GyroX.Read());
Debug.Print("GyroZ: " + GyroZ.Read());
Debug.Print("AccelerometerX: " + AccelerometerX.Read());
Debug.Print("AccelerometerY: " + AccelerometerY.Read());
Debug.Print("AccelerometerZ: " + AccelerometerZ.Read());
}*/
// Initialize robot
Robot robot = new Robot("1", "COM4");//com 4 orig. com 3 bec ause of problem on top board.
robot.Auton(false);
robot.student = new StudentCode(robot);
// Create and set radio threads
robot.rfPollThread = new Thread(robot.RunRFPoll);
robot.rfPollThread.Priority = ThreadPriority.AboveNormal;
robot.rfTeleThread = new Thread(robot.RunRFTele);
robot.rfTeleThread.Priority = ThreadPriority.AboveNormal;
// Create and set student code threads
robot.studentCodeThread = new Thread(robot.RunStudent);
robot.studentCodeThread.Priority = ThreadPriority.AboveNormal;
robot.autonomousThread = new Thread(robot.RunAutono);
robot.autonomousThread.Priority = ThreadPriority.BelowNormal;
// Initialize LEDs
robot.yellowLED = new OutputPort((Cpu.Pin)FEZ_Pin.Digital.IO59, false);
robot.redLED = new OutputPort((Cpu.Pin)FEZ_Pin.Digital.IO60, false);
// Disable
Debug.EnableGCMessages(false);
// Run the robot once to initialize
robot.Run();
// Set robot thread priority to AboveNormal
Thread.CurrentThread.Priority = ThreadPriority.AboveNormal;
// Start running all the threads
robot.rfPollThread.Start();
robot.rfTeleThread.Start();
robot.studentCodeThread.Start();
robot.autonomousThread.Start();
// Run robot supervisor code
while (true)
{
robot.Run();
Thread.Sleep(ROBOT_SLEEP_TIME);
}
}
/// <summary>
/// Main method which initializes the robot, and creates
/// the radio's and student code's threads. Begins running
/// the threads, and then runs the robot thread indefinitely.
/// </summary>
public static void Main()
{
// Initialize robot
Robot robot = new Robot("1", "COM4");
robot.Auton(false);
robot.student = new StudentCode(robot);
// Create and set radio threads
robot.rfPollThread = new Thread(robot.RunRFPoll);
robot.rfPollThread.Priority = ThreadPriority.AboveNormal;
robot.rfTeleThread = new Thread(robot.RunRFTele);
robot.rfTeleThread.Priority = ThreadPriority.AboveNormal;
// Create and set student code threads
robot.studentCodeThread = new Thread(robot.RunStudent);
robot.studentCodeThread.Priority = ThreadPriority.BelowNormal;
robot.autonomousThread = new Thread(robot.RunAutono);
robot.autonomousThread.Priority = ThreadPriority.BelowNormal;
// Initialize LEDs
robot.yellowLED = new OutputPort((Cpu.Pin)FEZ_Pin.Digital.IO59, false);
robot.redLED = new OutputPort((Cpu.Pin)FEZ_Pin.Digital.IO60, false);
// Disable
Debug.EnableGCMessages(false);
// Run the robot once to initialize
robot.Run();
// Set robot thread priority to AboveNormal
Thread.CurrentThread.Priority = ThreadPriority.AboveNormal;
// Start running all the threads
robot.studentCodeThread.Start();
robot.autonomousThread.Start();
robot.rfPollThread.Start();
robot.rfTeleThread.Start();
// Run robot supervisor code
while (true)
{
robot.Run();
Thread.Sleep(ROBOT_SLEEP_TIME);
}
}