private void RobotThread_OnDisconnecting(Robot.Hardware.Robot sender)
{
if ((sender != null) && (sender is ROV rov))
{
rov.FrontLeftThruster.Stop();
rov.FrontLeftThruster.Enabled = false;
rov.FrontRightThruster.Stop();
rov.FrontRightThruster.Enabled = false;
rov.BackLeftThruster.Stop();
rov.BackLeftThruster.Enabled = false;
rov.BackRightThruster.Stop();
rov.BackRightThruster.Enabled = false;
}
}
private void RobotThread_OnConnected(Robot.Hardware.Robot sender)
{
if ((sender != null) && (sender is ROV rov))
{
//rov.TwiSettings.Frequency = 400000;
rov.FrontLeftServo.Enabled = true;
rov.FrontRightServo.Enabled = true;
rov.BackLeftServo.Enabled = true;
rov.BackRightServo.Enabled = true;
rov.FrontLeftThruster.Enabled = true;
rov.FrontRightThruster.Enabled = true;
rov.BackLeftThruster.Enabled = true;
rov.BackRightThruster.Enabled = true;
rov.LeftGripperServo.Enabled = true;
rov.RightGripperServo.Enabled = true;
rov.NetServo.Enabled = true;
}
}
private void Robot_OnConnected(Robot.Hardware.Robot sender)
{
if ((sender != null) && (sender is ROV rov))
{
foreach (KeyValuePair <string, Servo> pair in rov.Servos)
{
Servo servo = pair.Value;
if (ServoRanges.ContainsKey(pair.Key))
{
servo.PWM.PulseRange = ServoRanges[pair.Key];
}
}
foreach (KeyValuePair <string, Thruster> pair in rov.Thrusters)
{
Thruster thruster = pair.Value;
if (ThrusterRanges.ContainsKey(pair.Key))
{
thruster.PulseRange = ThrusterRanges[pair.Key];
}
}
}
}
