Program()
{
com = new MyCom();
omniDrive = new OmniDrive();
bumper = new MyBumper();
omniDrive.setComId(com.id());
bumper.setComId(com.id());
}
public Robot()
{
com = new MyCom(this);
omniDrive = new OmniDrive();
bumper = new Bumper();
camera = new MyCamera(this);
omniDrive.setComId(com.id());
bumper.setComId(com.id());
camera.setComId(com.id());
}
public Robot()
{
com = new MyCom(this);
omniDrive = new OmniDrive();
bumper = new Bumper();
kinect = new MyKinect(this);
omniDrive.setComId(com.id());
bumper.setComId(com.id());
kinect.setComId(com.id());
}
public Robot()
{
com = new MyCom(this);
omniDrive = new OmniDrive();
bumper = new Bumper();
camera = new MyCamera(this);
motor = new Motor();
Distance = new DistanceSensor();
omniDrive.setComId(com.id());
motor.setComId(com.id());
bumper.setComId(com.id());
camera.setComId(com.id());
Distance.setComId(com.id());
}
Robotino()
{
_com = new MyCom();
_omniDrive = new OmniDrive();
_bumper = new MyBumper();
_distanceSensors = new List <MyDistanceSensor>();
for (uint i = 0; i < 9; i++)
{
_distanceSensors.Add(new MyDistanceSensor(i));
_distanceSensors[(int)i].setComId(_com.id());
}
_omniDrive.setComId(_com.id());
_bumper.setComId(_com.id());
}
static async Task ControlOmni()
{
Console.WriteLine("Connecting to MCU ({0})...", PORT);
mcu = new Microcontroller(new SerialTransport(PORT));
await mcu.Connect();
Console.WriteLine("Attaching omni drive...");
var omni = new OmniDrive(mcu);
await omni.Initialize();
Console.WriteLine("Control with left thumbstick. Press 'Back' to disconnect.");
var lastY = float.NaN;
var lastX = float.NaN;
var lastShoulderLeft = ButtonState.Released;
var lastShoulderRight = ButtonState.Released;
GamePadState pad;
do
{
pad = GamePad.GetState(PlayerIndex.One);
var y = pad.ThumbSticks.Left.Y;
var x = pad.ThumbSticks.Left.X;
var shoulderLeft = pad.Buttons.LeftShoulder;
var shoulderRight = pad.Buttons.RightShoulder;
if (x.CompareTo(lastX) != 0)
{
lastX = x;
Console.WriteLine("X: {0}", x);
if (x < 0)
{
await omni.DriveLeft((int)Math.Abs(x * 100));
}
else if (x > 0)
{
await omni.DriveRight((int)(Math.Abs(x * 100)));
}
else
{
await omni.AllStop();
}
}
if (y.CompareTo(lastY) != 0)
{
lastY = y;
Console.WriteLine("Y: {0}", y);
if (y < 0)
{
await omni.DriveForward((int)Math.Abs(y * 100));
}
else if (y > 0)
{
await omni.DriveBackward((int)(Math.Abs(y * 100)));
}
else
{
await omni.AllStop();
}
}
if (shoulderLeft.CompareTo(lastShoulderLeft) != 0)
{
lastShoulderLeft = shoulderLeft;
Console.WriteLine("ShoulderLeft : {0}", shoulderLeft);
if (shoulderLeft == ButtonState.Pressed)
{
await omni.RotateLeft(100);
}
else
{
await omni.AllStop();
}
}
if (shoulderRight.CompareTo(lastShoulderRight) != 0)
{
lastShoulderRight = shoulderRight;
Console.WriteLine("ShoulderRight : {0}", shoulderRight);
if (shoulderRight == ButtonState.Pressed)
{
await omni.RotateRight(100);
}
else
{
await omni.AllStop();
}
}
} while (pad.Buttons.Back != ButtonState.Pressed);
Console.WriteLine("Disconnecting from MCU...");
await mcu.Disconnect();
}
