public ManualDrive(Connection conn)
{
InitializeComponent();
groupKeys.Enabled = false;
groupMotor1.Enabled = false;
groupMotor2.Enabled = false;
try
{
_motorControl = new Phidgets.MotorControl();
_motorControl.Attach += new Phidgets.Events.AttachEventHandler(motorControl_Attach);
_motorControl.BackEMFUpdate += new Phidgets.Events.BackEMFUpdateEventHandler(motorControl_BackEMFUpdate);
_motorControl.CurrentChange += new Phidgets.Events.CurrentChangeEventHandler(motorControl_CurrentChange);
_motorControl.CurrentUpdate += new Phidgets.Events.CurrentUpdateEventHandler(motorControl_CurrentUpdate);
_motorControl.Detach += new Phidgets.Events.DetachEventHandler(motorControl_Detach);
_motorControl.EncoderPositionChange += new Phidgets.Events.EncoderPositionChangeEventHandler(motorControl_EncoderPositionChange);
_motorControl.EncoderPositionUpdate += new Phidgets.Events.EncoderPositionUpdateEventHandler(motorControl_EncoderPositionUpdate);
_motorControl.Error += new Phidgets.Events.ErrorEventHandler(motorControl_Error);
_motorControl.InputChange += new Phidgets.Events.InputChangeEventHandler(motorControl_InputChange);
_motorControl.SensorUpdate += new Phidgets.Events.SensorUpdateEventHandler(motorControl_SensorUpdate);
_motorControl.ServerConnect += new Phidgets.Events.ServerConnectEventHandler(motorControl_ServerConnect);
_motorControl.ServerDisconnect += new Phidgets.Events.ServerDisconnectEventHandler(motorControl_ServerDisconnect);
_motorControl.VelocityChange += new Phidgets.Events.VelocityChangeEventHandler(motorControl_VelocityChange);
_motorControl.open(conn.Ip, conn.Port, conn.Pass);
}
catch
{
Fatal_Error();
}
}
public ObstacleAvoidance(Connection conn)
{
InitializeComponent();
try
{
interfaceKit = new Phidgets.InterfaceKit();
interfaceKit.SensorChange += new Phidgets.Events.SensorChangeEventHandler(interfaceKit_SensorChange);
interfaceKit.open(conn.Ip, conn.Port, conn.Pass);
}
catch
{
}
}
public Form ExcecutePlugin(string pluginName, ref DataAccess woabotStats, Connection conn)
{
foreach (var op in operations)
{
if (op.Name == pluginName)
{
try
{
return op.Excecute(ref woabotStats, conn);
}
catch (Exception ex)
{
woabotStats.EventLog.Insert("Plugin Importer", "Error", ex.ToString(), true);
}
}
}
return null;
}
public Form Excecute(ref DataAccess woabotStats, Connection conn)
{
ObstacleAvoidance t = new ObstacleAvoidance(conn);
t.OnAllStop += ObstacleAvoidance_OnAllStop;
return t;
}
public Form Excecute(ref DataAccess woabotStats, Connection conn)
{
ManualDrive f = new ManualDrive(conn);
return f;
}
private Connection GetConnection()
{
Connection conn = new Connection();
conn.Ip = Properties.Settings.Default.Phidget_IP;
conn.Pass = Properties.Settings.Default.Phidget_Pass;
conn.Port = Convert.ToInt32(Properties.Settings.Default.Phidget_Port);
conn.Remote = Properties.Settings.Default.Phidget_Remote;
return conn;
}
