private static void CircleMovementWithAbsolutePosition(ICommunication communication, bool debug)
{
var panTiltControl = new EneoPanTiltControl(communication, debug);
panTiltControl.Start();
panTiltControl.DisableLimit();
//var random = new Random();
for (var i = 0; i < 50; i++)
{
var positions = CalculatePolygon(i, new PointF(0, 0), 7);
foreach (var position in positions)
{
panTiltControl.MovePanAbsolute(position.X);
panTiltControl.MoveTiltAbsolute(position.Y);
Thread.Sleep(40);
}
//panTiltControl.PanTiltAbsolute(0, 0);
//panTiltControl.ComparePosition(new PanTiltPosition(0, 0), 0.5, 20, 200);
}
panTiltControl.EnableLimit();
panTiltControl.Dispose();
}
private static void DriveRandomPositions(ICommunication communication, bool debug)
{
var panTiltControl = new EneoPanTiltControl(communication, debug);
var positionChecker = new PositionChecker(panTiltControl);
panTiltControl.Start();
var random = new Random();
while (true)
{
var panForward = true;
var tiltForward = true;
if (random.Next(0, 2) == 1)
{
panForward = false;
}
if (random.Next(0, 2) == 1)
{
tiltForward = false;
}
for (var i = 0; i < 1000; i++)
{
var panDegreePerSecond = random.Next(1, 40);
var tiltDegreePerSecond = random.Next(1, 15);
if (!panForward)
{
panDegreePerSecond = -panDegreePerSecond;
}
if (!tiltForward)
{
tiltDegreePerSecond = -tiltDegreePerSecond;
}
panTiltControl.MoveRelative(panDegreePerSecond, tiltDegreePerSecond);
Thread.Sleep(40);
}
panTiltControl.PanTiltAbsolute(0, 0);
positionChecker.ComparePosition(new PanTiltPosition(0, 0), 0.5, 20, 200);
}
}
static void Main(string[] args)
{
var ipAddress = IPAddress.Parse("192.168.184.105");
using (ICommunication communication = new UdpNetworkCommunication(ipAddress, 4003, 4003))
using (IPanTiltControl control = new EneoPanTiltControl(communication))
{
control.Start();
Thread.Sleep(200);
var currentPosition = control.GetPosition();
control.Stop();
}
//var ipAddress = IPAddress.Parse("192.168.184.105");
//ICommunication communication = new TcpNetworkCommunication(new IPEndPoint(ipAddress, 4003));
//var communication = new SerialPortCommunication("COM1");
//ICommunication communication = new UdpNetworkCommunication(ipAddress, 4003, 4003);
////var reader = new FirmwareReader(communication);
////reader.Dispose();
//IPanTiltControl panTiltControl = new EneoPanTiltControl(communication);
//Thread.Sleep(1000);
////panTiltControl.ReinitializePosition();
////panTiltControl.ReinitializePosition(); //2x ???? Warum
////Console.WriteLine("Press enter for next command");
////Console.ReadLine();
////DriveRandomPositions(communication, false);
//CircleMovementWithAbsolutePosition(communication, false);
//communication.Dispose();
}