public minero_class(int puerto = 2134, GLOBAL_MODE modo = GLOBAL_MODE.MINI_MINERO)
{
_modoOperacion = modo;
bmp1 = new Bitmap(640, 480, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
bw = new BackgroundWorker();
_puerto = puerto;
ipEnd = new IPEndPoint(IPAddress.Any, _puerto);
bw.DoWork += new DoWorkEventHandler(bw_DoWork);
if (_modoOperacion == GLOBAL_MODE.MINI_MINERO)
{
modeloRobot.setDeviceIndex(3);
}
else
{
modeloRobot.setDeviceIndex(4);
}
try
{
// enumerate video devices
videoDevices = new FilterInfoCollection(FilterCategory.VideoInputDevice);
// create video source
videoSource = new VideoCaptureDevice(videoDevices[0].MonikerString);
// set NewFrame event handler
videoSource.NewFrame += videoSource_NewFrame;
}
catch (Exception ex)
{
}
//jo¿ystick
joy.JoystickEvent += joy_JoystickEvent;
}
public DifferModel(GLOBAL_MODE modo = GLOBAL_MODE.MINERO)
{
_modo = modo;
if (ModoOper == GLOBAL_MODE.MINI_MINERO)
{
ax12_Dir = new List<AX_12_Motor>();
ax12_Rot = new List<AX_12_Motor>();
}
else
{
mot_rot = new Motores_arduino();
mot_rot.SentidoGiroIzquierdo = true;
}
_isConected = false;
}
public void setModoOperacion(GLOBAL_MODE modoOperacion)
{
_modo = modoOperacion;
}