public void RunMotors()
{
RoboticsDeviceInfo rdi = (RoboticsDeviceInfo)lstDevices.SelectedItem;
if (rdi == null || rdi.NXT == null)
{
return;
}
sbyte turn = 0;
ulong tacho = 0;
int motorcnt = 0;
foreach (Motor mtr in runningMotors)
{
if (mtr == null || mtr.power == 0)
{
rdi.NXT.SetOutputState((NXTOutputPort)motorcnt, 0, NXTOutputMode.NONE, NXTOutputRegulationMode.REGULATION_MODE_IDLE, 0, NXTOutputRunState.MOTOR_RUN_STATE_IDLE, tacho);
}
else
{
rdi.NXT.SetOutputState(mtr.port, (sbyte)(mtr.power * mtr.direction), NXTOutputMode.MOTORON, NXTOutputRegulationMode.REGULATION_MODE_MOTOR_SPEED, turn, NXTOutputRunState.MOTOR_RUN_STATE_RUNNING, tacho);
}
motorcnt++;
}
}
private void btnDisconnect_Click(object sender, EventArgs e)
{
RoboticsDeviceInfo rdi = (RoboticsDeviceInfo)lstDevices.SelectedItem;
rdi.Disconnect();
lstDevices.Enabled = true;
btnConnect.Enabled = true;
btnFindDevices.Enabled = true;
}
private void btnVersion_Click(object sender, EventArgs e)
{
RoboticsDeviceInfo rdi = (RoboticsDeviceInfo)lstDevices.SelectedItem;
try
{
rdi.NXT.GetVersion();
}
catch (Exception ex)
{
}
}
private void btnBeep_Click(object sender, EventArgs e)
{
RoboticsDeviceInfo rdi = (RoboticsDeviceInfo)lstDevices.SelectedItem;
try
{
rdi.NXT.PlayTone(400, 100, false);
}
catch (Exception ex)
{
}
}
private void btnDistance_Click(object sender, EventArgs e)
{
RoboticsDeviceInfo rdi = (RoboticsDeviceInfo)lstDevices.SelectedItem;
try
{
rdi.NXT.SetInputMode(NXTInputPort.Port4, NXTSensorType.LOWSPEED_9V, NXTSensorMode.RAWMODE);
}
catch (Exception ex)
{
}
timer1.Enabled = !timer1.Enabled;
}
public void ConnectToDevice()
{
try
{
btnConnect.Enabled = false;
btnFindDevices.Enabled = false;
lstDevices.Enabled = false;
RoboticsDeviceInfo rdi = (RoboticsDeviceInfo)lstDevices.SelectedItem;
rdi.Connect();
}
catch (Exception e)
{
btnConnect.Enabled = true;
btnFindDevices.Enabled = true;
lstDevices.Enabled = true;
}
}
/// <summary>
/// Locates all Bluetooth Devices in range and grabs their COM port, and saves to list.
/// </summary>
public void FindDevices()
{
BluetoothDeviceInfo[] bdi;
try
{
//Get a list of Discovered Devices
btClient = new BluetoothClient();
bdi = (BluetoothDeviceInfo[])btClient.DiscoverDevices();
}
catch (Exception e)
{
this.Invoke(addDeviceDelegate);
return;
}
//Compare discovered Bluetooth Devices with COM ports, and create new RoboticsDeviceInfo
foreach (BluetoothDeviceInfo di in bdi)
{
//Add device to nxtDevices list
RoboticsDeviceInfo rdi = new RoboticsDeviceInfo(di);
lock (nxtDevices)
{
bool bAdd = true;
foreach (RoboticsDeviceInfo nxtdi in nxtDevices)
{
if (nxtdi.DeviceName.Equals(rdi.DeviceName))
{
bAdd = false;
break;
}
}
if (bAdd)
{
nxtDevices.Add(rdi);
}
}
}
//Update our ComboBox and the FindDevices button state
this.Invoke(addDeviceDelegate);
}
protected override bool ProcessKeyPreview(ref Message msg)//, Keys keyData)
{
RoboticsDeviceInfo rdi = (RoboticsDeviceInfo)lstDevices.SelectedItem;
byte[] keys = new byte[255];
GetKeyboardState(keys);
bool passed = false;
//Check double keys first
foreach (Command cmd in Variables.config.commands)
{
if (cmd.keys1Count < 2)
{
continue;
}
passed = true;
foreach (int iKey in cmd.keys1)
{
if ((keys[iKey] & 128) == 0)
{
passed = false;
break;
}
}
if (passed)
{
int motorcnt = 0;
foreach (Motor mtr in cmd.motors)
{
if (mtr.power > 0)
{
runningMotors[motorcnt] = mtr;
}
else
{
runningMotors[motorcnt] = null;
}
motorcnt++;
}
szCurrentCommand = cmd.name;
break;
}
}
//Check single keys
//if (!passed)
{
foreach (Command cmd in Variables.config.commands)
{
if (cmd.keys1Count >= 2)
{
continue;
}
passed = true;
foreach (int iKey in cmd.keys1)
{
if ((keys[iKey] & 128) == 0)
{
passed = false;
break;
}
}
if (passed)
{
szCurrentCommand = cmd.name;
int motorcnt = 0;
foreach (Motor mtr in cmd.motors)
{
if (runningMotors[motorcnt] == null && mtr.power > 0)
{
runningMotors[motorcnt] = mtr;
}
motorcnt++;
}
break;
}
}
}
/*
* int UP = keys[(int)Keys.Up];
* int LEFT = keys[(int)Keys.Left];
* int RIGHT = keys[(int)Keys.Right];
* int DOWN = keys[(int)Keys.Down];
*
* sbyte power = 100;
* sbyte turn = 100;
* ulong tacho = 200;
* //Port A- - - Positive= forward
* //Port B- - - Positive= Reverse
* //Port C- - - Positive= Forward
* //String cmdname = "";
*
* if ((UP & 128) > 0 && (LEFT & 128) > 0)
* {
* szCurrentCommand = "[UPLEFT]";
* }
* else if ((UP & 128) > 0 && (RIGHT & 128) > 0)
* {
* szCurrentCommand = "[UPRIGHT]";
* }
* else if ((DOWN & 128) > 0 && (LEFT & 128) > 0)
* {
* szCurrentCommand = "[DOWNLEFT]";
* }
* else if ((DOWN & 128) > 0 && (RIGHT & 128) > 0)
* {
* szCurrentCommand = "[DOWNRIGHT]";
* }
* else if ((UP & 128) > 0)
* {
* szCurrentCommand = "[UP]";
* }
* else if ((DOWN & 128) > 0)
* {
* szCurrentCommand = "[DOWN]";
* }
* else if ((LEFT & 128) > 0)
* {
* szCurrentCommand = "[LEFT]";
* }
* else if ((RIGHT & 128) > 0)
* {
* szCurrentCommand = "[RIGHT]";
* }
* else
*/
if (!passed)
{
for (int i = 0; i < runningMotors.Length; i++)
{
runningMotors[i] = null;
}
szCurrentCommand = "";
RunMotors();
// timer1.Enabled = false;
}
//if ((UP & 128) > 0)
//{
this.rtxtLog.Focus();
//this.rtxtLog.Text = "Message = " + msg.Msg + "\nUP = " + keys[(int)Keys.Up] + "\nDOWN = " + keys[(int)Keys.Down] + "\nLEFT = " + keys[(int)Keys.Left] + "\nRight = " + keys[(int)Keys.Right];
// return true;
// return false;
//}
if (szCurrentCommand.Length > 0)
{
//this.rtxtLog.Text = "Key = " + szCurrentCommand + "\n";
timer1.Enabled = true;
return(false);
}
return(base.ProcessKeyPreview(ref msg));
}
private void btnUpdatePort1_Click(object sender, EventArgs e)
{
RoboticsDeviceInfo rdi = (RoboticsDeviceInfo)lstDevices.SelectedItem;
rdi.GetUltrasonicValue(NXTInputPort.Port1);
}
