public HokuyoURG(string port, int scannerId, bool useHokuyoTimestamp) { this.port = port; this.scannerId = scannerId; this.sensorPose = new SensorPose(0, 0, 0, 0, 0, 0, 0); this.useHokuyoTimestamp = useHokuyoTimestamp; if (!useHokuyoTimestamp) { INetworkAddressProvider addressProvider = new HardcodedAddressProvider(); segway = new SegwayRMP50(addressProvider.GetAddressByName("SegwayFeedback"), addressProvider.GetAddressByName("SegwayControl"), false, 1); segway.Start(); segway.WheelPositionUpdate += new EventHandler<TimestampedEventArgs<Magic.Common.Robots.IRobotTwoWheelStatus>>(segway_WheelPositionUpdate); } }
public Pioneer3(NetworkAddress feedback, NetworkAddress control, bool simmode, bool isBackwards, int id) : this(feedback, control, isBackwards, id) { if (simmode) { INetworkAddressProvider addrProvider = new HardcodedAddressProvider(); simRobotCommandServer = new GenericMulticastServer<SimMessage<RobotTwoWheelCommand>>(addrProvider.GetAddressByName("RobotSimCommands"), new CSharpMulticastSerializer<SimMessage<RobotTwoWheelCommand>>(true)); simRobotCommandServer.Start(NetworkAddress.GetBindingAddressByType(NetworkAddress.BindingType.Wired)); //Fake Segway feedback (for Odom) simSegwayFeedback = new GenericMulticastClient<SimMessage<IRobotTwoWheelStatus>>(addrProvider.GetAddressByName("SimSegwayFeedback"), new CSharpMulticastSerializer<SimMessage<IRobotTwoWheelStatus>>(true)); simSegwayFeedback.MsgReceived += new EventHandler<MsgReceivedEventArgs<SimMessage<IRobotTwoWheelStatus>>>(simSegwayFeedback_MsgReceived); simSegwayFeedback.Start(NetworkAddress.GetBindingAddressByType(NetworkAddress.BindingType.Wired)); } this.simMode = simmode; }
public SimLidar(SensorPose toBodyTransform, int id) { INetworkAddressProvider addressProvider = new HardcodedAddressProvider(); simLidarClient = new GenericMulticastClient<SimMessage<ILidarScan<ILidar2DPoint>>>(addressProvider.GetAddressByName("SimLidar"), new CSharpMulticastSerializer<SimMessage<ILidarScan<ILidar2DPoint>>>(true)); simLidarClient.MsgReceived += new EventHandler<MsgReceivedEventArgs<SimMessage<ILidarScan<ILidar2DPoint>>>>(simLidarClient_MsgReceived); this.toBodyTransform = toBodyTransform; robotID = id; }
public VFHPathFollower(double maxVelocity, double maxTurn) { INetworkAddressProvider na = new HardcodedAddressProvider(); sick = new SickLMS(na.GetAddressByName("Sick"), new SensorPose()); sick.ScanReceived += new EventHandler<ILidarScanEventArgs<ILidarScan<ILidar2DPoint>>>(sick_ScanReceived); sick.Start(); histogram = new double[361]; this.maxVelocity = maxVelocity; this.maxTurn = maxTurn; }
public HokuyoURG(string port, int scannerId, SensorPose sensorPose, bool useHokuyoTimestamp) { this.port = port; this.scannerId = scannerId; this.sensorPose = sensorPose; this.useHokuyoTimestamp = useHokuyoTimestamp; if (!useHokuyoTimestamp) { INetworkAddressProvider addressProvider = new HardcodedAddressProvider(); //segway = new SegwayRMP50(addressProvider.GetAddressByName("SegwayFeedback"), addressProvider.GetAddressByName("SegwayControl"), false, 1); //segway.Start(); //segway.WheelPositionUpdate += new EventHandler<TimestampedEventArgs<Magic.Common.Robots.IRobotTwoWheelStatus>>(segway_WheelPositionUpdate); ILidar2D lidar = new SickLMS(addressProvider.GetAddressByName("Sick"), new SensorPose(), true); lidar.ScanReceived += new EventHandler<ILidarScanEventArgs<ILidarScan<ILidar2DPoint>>>(lidar_ScanReceived); lidar.Start(); } }