// Move fuctions
private void StopMovement()
{
MotorSpeedModels speed = new MotorSpeedModels();
speed.ForwardSpeed = 0;
speed.BackwardSpeed = 0;
speed.LeftSpeed = 0;
speed.RightSpeed = 0;
MovementTimer.Stop();
LemurianHub.LemurianMove("stop", speed);
}
public void LemurianMove(string direction, MotorSpeedModels speed)
{
// only get movement controls from the master controller and
// send the navigation info only to the motor
var masterId = SignalRClients["master"];
var motorId = SignalRClients["motor"];
if (ControllerMotorPass())
{
LemurianHubContext.Clients.Client(motorId).MoveRobot(direction, speed.ForwardSpeed, speed.BackwardSpeed, speed.LeftSpeed, speed.RightSpeed);
}
}
public MainPage()
{
this.InitializeComponent();
SelectPage("loading");
ledStripLights = new LEDStripLight();
notifiers = new MainPageNotifiers();
speed = new MotorSpeedModels();
ApplicationView.PreferredLaunchViewSize = new Size(700, 450);
ApplicationView.PreferredLaunchWindowingMode = ApplicationViewWindowingMode.PreferredLaunchViewSize;
// When the app loses focus make sure to shut down the bot
Window.Current.Activated += Current_Activated;
}
private string MoveCommands(string returnMessage, MessageReplyModels messageReply, Match m, string key)
{
MotorSpeedModels speed = new MotorSpeedModels();
var direction = messageReply.Methods[key][0];
speed.ForwardSpeed = Convert.ToInt32(messageReply.Methods[key][1]);
speed.BackwardSpeed = Convert.ToInt32(messageReply.Methods[key][2]);
speed.LeftSpeed = Convert.ToInt32(messageReply.Methods[key][3]);
speed.RightSpeed = Convert.ToInt32(messageReply.Methods[key][4]);
var timer = messageReply.Methods[key][5];
if (timer == _INT)
{
timer = m.Groups[2].Value;
returnMessage = returnMessage.Replace(_INT, timer);
}
MoveFunctions(timer, direction, speed);
return(returnMessage);
}
private void MoveFunctions(string timer, string direction, MotorSpeedModels speed)
{
MovementTimer.Stop();
if (direction == "Stop")
{
MovementStatus = false;
}
else
{
MovementStatus = true;
}
if (MovementStatus & direction != "Stop")
{
MovementTimer.Interval = Convert.ToInt32(timer) * 1000;
LemurianHub.LemurianMove(direction.ToLower(), speed);
MovementTimer.Start();
}
else
{
StopMovement();
}
}
private async void LemurianMove(string direction, MotorSpeedModels speed)
{
// Send this data to the Server
await LemurianHub.Invoke("LemurianMove", new object[] { direction, speed });
}
