private void SendControl() { CommanderPacket commanderPacket = new CommanderPacket(roll, pitch, yaw, thrust); IPacket ackPacket = crazyRadioMessenger.SendMessage(commanderPacket); UpdateCommandValues(); }
private static void Main(string[] args) { SetUpLogging(); IEnumerable <ICrazyradioDriver> crazyradioDrivers = null; try { Log.Debug("Starting Crazyradio USB dongle tests."); crazyradioDrivers = CrazyradioDriver.GetCrazyradios(); } catch (Exception ex) { Log.Error("Error getting Crazyradios.", ex); } if (crazyradioDrivers != null && crazyradioDrivers.Any()) { var crazyradioDriver = crazyradioDrivers.First(); try { crazyradioDriver.Open(); var scanResults = crazyradioDriver.ScanChannels(); if (scanResults.Any()) { var firstScanResult = scanResults.First(); var dataRateWithCrazyflie = firstScanResult.DataRate; var channelWithCrazyflie = firstScanResult.Channels.First(); crazyradioDriver.DataRate = dataRateWithCrazyflie; crazyradioDriver.Channel = channelWithCrazyflie; var pingPacket = new PingPacket(); var pingPacketBytes = pingPacket.GetBytes(); var crazyRadioMessenger = new CrazyradioMessenger(crazyradioDriver); var loop = true; while (loop) { // test 2 (using CTRP lib) { Log.InfoFormat("Ping Packet Bytes: {0}", BitConverter.ToString(pingPacketBytes)); var ackPacket = crazyRadioMessenger.SendMessage(new PingPacket()); var ackPacketBytes = ackPacket.GetBytes(); Log.InfoFormat("ACK Response Bytes (using CTRP): {0}", BitConverter.ToString(ackPacketBytes)); } if (Console.KeyAvailable && Console.ReadKey().Key == ConsoleKey.Spacebar) { loop = false; } } } else { Log.Warn("No Crazyflie Quadcopters found!"); } } catch (Exception ex) { Log.Error("Error testing Crazyradio.", ex); } finally { crazyradioDriver.Close(); } } else { Log.Warn("No Crazyradio USB dongles found!"); } Log.Info("Sleepy time...Hit space to exit."); var sleep = true; while (sleep) { if (Console.KeyAvailable && Console.ReadKey().Key == ConsoleKey.Spacebar) { sleep = false; } } }