public void setupRobot()
{
robot = new iRobotCreate();
robot.OnSensorUpdateRecieved += new iRobotCreate.SensorUpdateHandler(OnSensorUpdate);
robot.OnBumperChanged += new iRobotCreate.BumperChangedHandler(OnBumperChanged);
robot.OnCliffDetectChanged += new iRobotCreate.CliffDetectChangedHandler(OnCliffDetectChanged);
robot.OnWheelDropChanged += new iRobotCreate.WheelDropChangedHandler(OnWheelDropChanged);
}
private void Form1_Load(object sender, EventArgs e)
{
this.KeyPreview = true;
robot = new iRobotCreate();
robot.OnSensorUpdateRecieved += new iRobotCreate.SensorUpdateHandler(OnSensorUpdate);
robot.OnBumperChanged += new iRobotCreate.BumperChangedHandler(OnBumperChanged);
robot.OnCliffDetectChanged += new iRobotCreate.CliffDetectChangedHandler(OnCliffDetectChanged);
robot.OnWheelDropChanged += new iRobotCreate.WheelDropChangedHandler(OnWheelDropChanged);
if (File.Exists("config.txt"))
{
FileStream fs = new FileStream("config.txt", FileMode.OpenOrCreate);
StreamReader filereader = new StreamReader(fs);
try
{
string[] parts;
parts = (filereader.ReadLine()).Split(' ');
cbAutoConnectCOM.Checked = Boolean.Parse(parts[1]);
parts = (filereader.ReadLine()).Split(' ');
tbCOMPort.Text = parts[1];
parts = (filereader.ReadLine()).Split(' ');
cbAutoStartServer.Checked = Boolean.Parse(parts[1]);
parts = (filereader.ReadLine()).Split(' ');
tbServerPort.Text = int.Parse(parts[1]).ToString();
parts = (filereader.ReadLine()).Split(' ');
tbServerPassword.Text = parts[1];
parts = (filereader.ReadLine()).Split(' ');
cbAutoConnectNetwork.Checked = Boolean.Parse(parts[1]);
if (cbAutoConnectNetwork.Checked)
{
tabControl.SelectedTab = tabControl.TabPages[1];
}
parts = (filereader.ReadLine()).Split(' ');
tbRemoteIP.Text = parts[1];
parts = (filereader.ReadLine()).Split(' ');
tbRemotePort.Text = int.Parse(parts[1]).ToString();
parts = (filereader.ReadLine()).Split(' ');
tbRemotePassword.Text = parts[1];
parts = (filereader.ReadLine()).Split(' ');
tbKeyBoardSpeed.Text = parts[1];
Thread.Sleep(1000);
//connect the local robot
if (cbAutoConnectCOM.Checked || cbAutoConnectNetwork.Checked)
{
delayedConnectThread = new Thread(new ThreadStart(DelayedConnectCallback));
delayedConnectThread.Start();
}
if (cbAutoStartServer.Checked)
{
btnStartServer_Click(this, null);
}
}
catch (Exception x)
{
Console.Out.WriteLine("File read error: " + x.ToString());
}
filereader.Close();
fs.Close();
}
else
{
if(udpClientListener != null)
udpClientListener.Close();
SaveSettings();
}
}