public Form1()
{
InitializeComponent();
DriveCtrl driveCtrl = new DriveCtrl(Constants.IODriveCtrl);
MotorCtrl motorCtrlLeft = new MotorCtrl(Constants.IOMotorCtrlLeft);
MotorCtrl motorCtrlRight = new MotorCtrl(Constants.IOMotorCtrlRight);
this.driveCtrlView.DriveCtrl = driveCtrl;
this.motorCtrlViewLeft.MotorCtrl = motorCtrlLeft;
this.motorCtrlViewRight.MotorCtrl = motorCtrlRight;
}
public Form1()
{
InitializeComponent();
DriveCtrl driveCtrl = new DriveCtrl(0xF330);
driveCtrlView.DriveCtrl = driveCtrl;
MotorCtrl motorCtrlLeft = new MotorCtrl(0xF328);
MotorCtrl motorCtrlRight = new MotorCtrl(0xF320);
motorCtrlView1.MotorCtrl = motorCtrlLeft;
motorCtrlView2.MotorCtrl = motorCtrlRight;
}
/// <summary>
/// Process-Loop beenden und die Motorencontroller zurücksetzen => Motoren halten an
/// </summary>
public void Dispose()
{
if (!_disposed)
{
_run = false; // Drive-Thread beenden
_thread.Join();
MotorCtrlLeft.Dispose(); // linkes Motorenobjekt disposen
MotorCtrlRight.Dispose(); // rechtes Motorenobjekt disposen
DriveCtrl.Dispose(); // DriveCtrl disposen => HW-Motorencontroller werden zurückgesetzt und Motoren laufen aus
_disposed = true;
}
}
public Form1()
{
InitializeComponent();
if (Constants.IsWinCE)
{
_driveControl = new DriveCtrlHW(Constants.IODriveCtrl);
_leftMotorControl = new MotorCtrlHW(Constants.IOMotorCtrlLeft);
_rightMotorControl = new MotorCtrlHW(Constants.IOMotorCtrlRight);
}
else
{
_driveControl = new DriveCtrlSim();
_leftMotorControl = new MotorCtrlSim();
_rightMotorControl = new MotorCtrlSim();
}
leftMotorCtrlView.MotorCtrl = _leftMotorControl;
rightMotorCtrlView.MotorCtrl = _rightMotorControl;
driveCtrlView.DriveCtrl = _driveControl;
}
