public Form1()
{
InitializeComponent();
// start a new instance of the xbox one controller
xb1c = new XInputController();
// if there is a connection then update the current values
if (xb1c.connected)
{
base_val = xb1c.leftThumb.X;
shoulder_val = xb1c.leftThumb.Y;
elbow_val = xb1c.rightThumb.Y;
gripper_val = xb1c.rightThumb.X;
}
else
{
MessageBox.Show(this, "The Xbox One controller did not connect properly.\n", "Warning", MessageBoxButtons.OK, MessageBoxIcon.Warning);
}
//init xbees
comms = new Comms(THIS_ID);
comms.InitConnection(TransportProtocol.ZIGBEE_LINK, "COM3", "", 57600);
comms.AddAddress(UGV_ID, "0013A20040917A31", 0);
comms.LinkCallback(new NGCP.ArmPosition(0, 0, 0, 0), new CallBack(ArmPositionCallBack));
comms.LoadKey("NGCP Project 2016");
comms.Run();
// set timer event to start reading and updating from the controller
timer1.Start();
}
static void Main(string[] args)
{
Calls call = new Calls();
CommNode comm1 = new Comms(1);
CommNode comm2 = new Comms(2);
comm1.LinkCallback(new Ping(), new CallBack(call.PingCallback));
comm2.LinkCallback(new Ping(), new CallBack(call.PingCallback));
comm1.InitConnection(TransportProtocol.ZIGBEE_LINK, "COM5", "", 57600);
comm2.InitConnection(TransportProtocol.ZIGBEE_LINK, "COM6", "", 57600);
Console.WriteLine(comm1.AddAddress(2, "0013A2004067E4AE", 0));
Console.WriteLine(comm2.AddAddress(1, "0013A20040917A31", 0));
//comm1.InitConnection(TransportProtocol.UDP_LINK, "1337", "127.0.0.1", 57600);
//comm2.InitConnection(TransportProtocol.UDP_LINK, "1338", "127.0.0.1", 57600);
//Console.WriteLine(comm1.AddAddress(2, "127.0.0.1", 1338));
//Console.WriteLine(comm2.AddAddress(1, "127.0.0.1", 1337));
//Ping ping = new Ping("I am from C#!");
comm1.Run();
comm2.Run();
Ping ping = new Ping("From C#, From the xbee!!");
//TargetDesignationCommand command = new TargetDesignationCommand(45.34f, 23.22f, 234.44f);
while (true)
{
comm1.Send(ping, 2);
//comm1.Send(command, 1);
System.Threading.Thread.Sleep(1000);
}
comm1.Stop(); //This call is essential to stop threads because finalizer may not be called.
comm2.Stop();
}
