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(); }