public void Connect(string ip)
{
com = CDLL.Com_construct();
if (!CDLL.Com_setAddress(com, ip))
{
throw new Exception("SetAddress error");
}
if (!CDLL.Com_connect(com))
{
throw new Exception("Cann't connect with robotino");
}
omniDrive = CDLL.OmniDrive_construct();
for (int i = 0; i < 9; i++)
{
distanceSensor[i] = CDLL.DistanceSensor_construct((int)i);
if (!CDLL.DistanceSensor_setComId(distanceSensor[i], com))
{
throw new Exception("Cann't set DistanceSensor");
}
}
if (!CDLL.OmniDrive_setComId(omniDrive, com))
{
throw new Exception("Cann't set OmniDrive");
}
cameraID = CDLL.Camera_construct();
var ok = CDLL.Camera_setComId(cameraID, com);
ok = CDLL.Camera_setStreaming(cameraID, true);
}
public void DisConnect()
{
if (!CDLL.Com_disconnect(com))
{
throw new Exception("Disconnect fail!");
}
}
public void ManualControlMove(float speedX, float speedY, float rot)
{
if (!CDLL.OmniDrive_setVelocity(omniDrive, speedY, speedX, rot))
{
throw new Exception("Control error");
}
;
}
public void ManualControlMove(float speedX, float speedY, float rot)
{
if (mChangedEvent != null)
{
mChangedEvent.Invoke(speedX, speedY, rot);
}
if (!CDLL.OmniDrive_setVelocity(omniDrive, speedY, speedX, rot))
{
throw new Exception("Control error");
}
;
}
public void DisConnect()
{
if (!CDLL.Com_disconnect(com))
{
throw new Exception("Disconnect fail!");
}
if (!CDLL.OmniDrive_destroy(omniDrive))
{
throw new Exception("Disconnect fail!");
}
for (int i = 0; i < 9; i++)
{
if (!CDLL.DistanceSensor_destroy(distanceSensor[i]))
{
throw new Exception("Disconnect fail!");
}
}
}
public void Grab()
{
int imageWidth = 0;
int imageHeight = 0;
uint imageCounter = 0;
var dt = DateTime.Now;
if (CDLL.Com_isConnected(com))
{
if (CDLL.Camera_grab(cameraID))
{
CDLL.Camera_imageSize(cameraID, ref imageWidth, ref imageHeight);
imageBufferSize = 3 * imageWidth * imageHeight;
CDLL.Camera_getImage(cameraID, imageBuffer, imageBufferSize, ref imageWidth, ref imageHeight);
}
}
}
public void Connect(string ip)
{
com = CDLL.Com_construct();
if (!CDLL.Com_setAddress(com, ip))
{
throw new Exception("SetAddress error");
}
if (!CDLL.Com_connect(com))
{
throw new Exception("Cann't connect with robotino");
}
omniDrive = CDLL.OmniDrive_construct();
if (!CDLL.OmniDrive_setComId(omniDrive, com))
{
throw new Exception("Cann't set OmniDrive");
}
}
public float ReadDistanceSensor(int n)
{
return(CDLL.DistanceSensor_voltage(distanceSensor[n]));
}