private void Connect_btn_Click(object sender, EventArgs e)
{
// Try to connect then check connection and throw error if found
try
{
// Setup the NXT Brick
_nxt = new NxtBrick(NxtCommLinkType.Bluetooth, Convert.ToByte(Port_txt.Text))
{
MotorA = _ar, MotorC = _cr
};
_nxt.Connect();
if (_nxt.IsConnected)
{
_defaultEngine.RecognizeAsync(RecognizeMode.Multiple);
Connected_lbl.Visible = true;
Port_txt.BackColor = Color.Green;
Connect_btn.Enabled = false;
Battery_checker.Enabled = true;
}
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
Connected_lbl.Visible = false;
Port_txt.BackColor = Color.Red;
// Writes the Exception to the Log
WriteToLog(ex.Message);
}
}
private void ConnectSafe()
{
try
{
_brick.Connect();
}
catch (Exception e)
{
Logger.Warn(string.Format("Ошибка подключения к роботу: {0}", e.Message));
}
}
public void Connect()
{
try
{
m_brick.Connect();
}
catch (IOException)
{
// Do nothing ATM
}
m_connected = m_brick.IsConnected;
}
static void Main()
{
Init();
brick = new NxtBrick(NxtCommLinkType.USB, 0);
//brick = new NxtBrick(NxtCommLinkType.Bluetooth, 40);
var sound = new NxtSoundSensor();
var touch = new NxtTouchSensor();
var sonar = new NxtUltrasonicSensor();
brick.MotorA = new NxtMotor();
brick.MotorC = new NxtMotor();
motorPair = new NxtMotorSync(brick.MotorA, brick.MotorC);
brick.Sensor1 = sonar;
brick.Sensor3 = touch;
brick.Sensor4 = sound;
sound.PollInterval = 50;
sound.OnPolled += sound_OnPolled;
sonar.PollInterval = 50;
sonar.ThresholdDistanceCm = 25;
sonar.OnPolled += sonar_OnPolled;
sonar.OnWithinThresholdDistanceCm += OnWithinThreshold;
sonar.ContinuousMeasurementCommand();
touch.PollInterval = 50;
touch.OnPressed += OnCollision;
brick.Connect();
motorPair.Run(75, 0, 0);
Console.WriteLine("Press any key to stop.");
Console.ReadKey();
brick.Disconnect();
}
static void Main(string[] args)
{
VertsX = new float[0];
VertsY = new float[0];
VertsZ = new float[0];
FacesA = new int[0];
FacesB = new int[0];
FacesC = new int[0];
Console.WriteLine("\n=== === ===\nWELCOME\n=== === ===");
Console.WriteLine("Welcome to ProjectX 3D Printing Software!");
Console.WriteLine("Press any Key to start print Configuration.");
Console.ReadKey();
Console.WriteLine("\n\n");
Console.WriteLine("\n=== === ===\nCONNECTION SETUP\n=== === ===");
Console.WriteLine("ProjectX will now detect your NXT Device.");
Console.WriteLine("Type 'B' if you are using a Bluetooth Connection,");
Console.WriteLine("or 'U' if you are using a USB Cable.");
Console.WriteLine("Make sure your NXT is turned on and connected properly before continuing.");
bool hasChosen = false;
while (!hasChosen)
{
ConsoleKeyInfo key = Console.ReadKey();
if (key.Key == ConsoleKey.B)
{
hasChosen = true;
SetupBluetoothConnection();
}
if (key.Key == ConsoleKey.U)
{
hasChosen = true;
SetupUSBConnection();
}
}
//Verbindungskontrolle
Console.WriteLine("Trying to connect to NXT ...");
brick.Connect();
int timeout = 5000;
Stopwatch sw = Stopwatch.StartNew();
while (sw.ElapsedMilliseconds < timeout && !brick.IsConnected)
{
System.Threading.Thread.Sleep(100);
}
if (brick.IsConnected)
{
PingNXT();
}
else
{
Console.WriteLine("Connection Failed.");
}
//Einlesen Der .obj-Datei
Console.WriteLine("\n=== === ===\nMODEL SELECTION\n=== === ===");
Console.WriteLine("\n\nPlease give the Path of the 3D model you are willing to print. OBJ Format is supported.");
string objPath = Console.ReadLine();
StreamReader objReader = new StreamReader(objPath);
DecodeObjFile(objReader);
Console.WriteLine("Object with name " + objName + " found.");
Console.WriteLine("A total of " + VertsX.Length + " Vertices and " + FacesA.Length + " faces were found.");
//Kalibrierung der Motoren
Console.WriteLine("\n=== === ===\nMOTOR CALIBRATION\n=== === ===");
LinkMotorAxis();
Calibrate();
SetDimensions();
//Einstellung der Auflösung
Console.WriteLine("\n=== === ===\nRESOLUTION\n=== === ===");
SetResolution();
//Anpassen der modellgröße
FindScale();
//Drucken
PreparePrint();
Print();
Console.ReadKey();
brick.Disconnect();
}
//Brick connection procedure logic
private void button_connect_Click(object sender, EventArgs e)
{
if (!isConnectedToBrick)
{
byte COMport = byte.Parse(COMportInput.Text);
if (RB_McRXE.Checked)
{
//Create Motor Control NXT Brick and Bluetooth use USB to communicate with it.
if (RB_Bluetooth.Checked)
{
McBrick = new McNxtBrick(NxtCommLinkType.Bluetooth, COMport);
}
//Create Motor Control NXT Brick, and use USB to communicate with it.
if (RB_USB.Checked)
{
brick = new McNxtBrick(NxtCommLinkType.USB, COMport);
}
// Create a Motor Control motor.
McMotorA = new McNxtMotor();
McMotorB = new McNxtMotor();
McMotorC = new McNxtMotor();
//Synched motors
McMotorPair = new McNxtMotorSync(McMotorB, McMotorC);
// Attach it to port A of the NXT brick.
McBrick.MotorA = McMotorA;
McBrick.MotorB = McMotorB;
McBrick.MotorC = McMotorC;
// Connect to the NXT.
McBrick.Connect();
if (!McBrick.IsMotorControlRunning())
{
McBrick.StartMotorControl();
}
motorControlActive = true;
}
else
{
//Create NXT Brick and Bluetooth use USB to communicate with it.
if (RB_Bluetooth.Checked)
{
NxtBrick brick = new NxtBrick(NxtCommLinkType.Bluetooth, COMport);
}
// Create a NXT brick, and use USB to communicate with it.
if (RB_USB.Checked)
{
NxtBrick brick = new NxtBrick(NxtCommLinkType.USB, COMport);
}
// Create a motor.
motorA = new NxtMotor();
motorB = new NxtMotor();
motorC = new NxtMotor();
// Attach it to port A of the NXT brick.
brick.MotorA = motorA;
brick.MotorB = motorB;
brick.MotorC = motorC;
// Connect to the NXT.
brick.Connect();
}
ConnectedText.Visible = true;
isConnectedToBrick = true;
}
}
public bool Connect()
{
m_brick.Connect();
return(m_brick.IsConnected);
}
