public Servo(DynamixelController controler, byte id)
{
// Create controller.
this.controler = controler;
// Current ID.
this.id = id;
}
/// <summary>
/// Make the robot to do the move.
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btnMakeMove_Click(object sender, EventArgs e)
{
try
{
int comIndex = Convert.ToInt32(this.robotSerialPortName.Replace("COM", ""));
Robotis.DynamixelController controlr = new Robotis.DynamixelController(comIndex, 1);
this.playerRobot = new NineMansMorrisPlayer(controlr, this.jointIDs);
ArtifitialInteligence.MoveType type = this.NewMove.GetMoveType();
ArtifitialInteligence.BoardIndex startPosition = this.NewMove.GetStartPosition();
ArtifitialInteligence.BoardIndex endPosition = this.NewMove.GetEndPosition();
ArtifitialInteligence.BoardIndex capturePosition = this.NewMove.GetCapturePosition();
switch (type)
{
case ArtifitialInteligence.MoveType.Drop:
// TODO: Get figure from the shop and drop it on to EndPosition of the move object.
// Update UI.
lblDesition.Text = String.Format("Робота взема фигура и я поставя на позиция {0}.", endPosition.ToString());
// Commands for the robot.
if (enableSending)
{
playerRobot.GetFigureFromShop();
playerRobot.DropFigureOnBoard((int)endPosition);
}
// END
break;
case ArtifitialInteligence.MoveType.DropAndCapture:
// TODO: See the coment below (Drop and capture)
/*
* If the end position == drop position then
* Remove the figure from the board and throw it to thecaptured figures shop.
* Get figure from the shop and drop it on to EndPosition of the move objec.
*/
// Update UI.
lblDesition.Text = String.Format("Робота взема фигура и я поставя на позиция {0} от игралното поле\nи взема фигура на опонента си от {1}", endPosition.ToString(), capturePosition.ToString());
//Commands for the robot.
if (this.enableSending)
{
playerRobot.GetFigureFromShop();
playerRobot.DropFigureOnBoard((int)endPosition);
playerRobot.GetFigureFromBoard((int)capturePosition);
playerRobot.DropFigureToTheCaptureShop();
}
// END
break;
case ArtifitialInteligence.MoveType.Move:
// TODO: Get the figure of the start position of the move objet and drop it to the end position.
// Update UI.
lblDesition.Text = String.Format("Робота взема фигура и я мести по дъската от позиция {0}.", endPosition.ToString());
//Commands for the robot.
if (this.enableSending)
{
playerRobot.GetFigureFromBoard((int)startPosition);
playerRobot.DropFigureOnBoard((int)endPosition);
}
// END
break;
case ArtifitialInteligence.MoveType.MoveAndCapture:
// TODO: Get figure frm start position, move it to the end position. Get the figure from capture position and drop it to the capture shop.
// Update UI.
lblDesition.Text = String.Format("Робота взема фигура и я мести по дъската от позиция {0}.", endPosition.ToString());
//Commands for the robot.
if (this.enableSending)
{
playerRobot.GetFigureFromBoard((int)startPosition);
playerRobot.DropFigureOnBoard((int)endPosition);
playerRobot.GetFigureFromBoard((int)capturePosition);
playerRobot.DropFigureToTheCaptureShop();
}
break;
}
// Upadate UI
tsslblStatusProces.Text = "Last action: generating command.";
}
catch (Exception exception)
{
tsslblStatusProces.Text = String.Format("Exception: {0}", exception.Message);
Loging.Log.CreateRecord("MainForm.btnMakeMove_Click", String.Format("Exception: {0}", exception.Message), Loging.LogMessageTypes.Error);
}
}
/// <summary>
/// Write byte.
/// </summary>
/// <param name="id">ID of the servo.</param>
/// <param name="opCode">Operation code.</param>
/// <param name="data">Argument date.</param>
internal void WriteByte(int id, int opCode, int data)
{
DynamixelController.dxl_write_byte(id, opCode, data);
}
/// <summary>
/// Read byte.
/// </summary>
/// <param name="id">ID of the servo.</param>
/// <param name="opCode">Operation code.</param>
internal int ReadByte(int id, int opCode)
{
return(DynamixelController.dxl_read_byte(id, opCode));
}
/// <summary>
/// Write word.
/// </summary>
/// <param name="id">ID of the servo.</param>
/// <param name="opCode">Operation code.</param>
/// <param name="data">Argument date.</param>
internal void WriteWord(int id, int opCode, int data)
{
DynamixelController.dxl_write_word(id, opCode, data);
}
/// <summary>
/// Read word.
/// </summary>
/// <param name="id">ID of the servo.</param>
/// <param name="opCode">Operation code.</param>
internal int ReadWord(int id, int opCode)
{
return(DynamixelController.dxl_read_word(id, opCode));
}