static void Main(string[] args)
{
var driver = new Driver("COM10", 115200);
var poseEngine = new PoseEngine(driver);
var layPose = new Pose("<P,50,-1,0,3.1048,1000,1.5647,1000,0.0000,1000,3.1048,1000,4.7185,1000,6.2770,1000,3.0680,1000,4.7124,1000,6.2770,1000,3.1845,1000,1.5401,1000,0.0000,1000>");
var standPose = new Pose("<P,30,-1,0,3.1415,1000,2.0000,1000,1.2000,1000,3.1415,1000,4.1415,1000,5.0000,1000,3.1415,1000,4.1415,1000,4.9000,1000,3.1415,1000,2.000,1000,1.3000,1000>");
driver.Open();
while (true)
{
Pose pose;
Console.WriteLine("Lay");
pose = poseEngine.PlayPose(layPose).Result;
PrintPose(pose);
Console.WriteLine("Stand");
pose = poseEngine.PlayPose(standPose).Result;
PrintPose(pose);
}
}
// This method gets called by the runtime. Use this method to add services to the container.
public void ConfigureServices(IServiceCollection services)
{
services.AddMvc().SetCompatibilityVersion(CompatibilityVersion.Version_2_2);
// In production, the React files will be served from this directory
services.AddSpaStaticFiles(configuration =>
{
configuration.RootPath = "ClientApp/build";
});
services.AddScoped <CocoaContext>(_ => new CocoaContext());
var serialPort = Configuration["SerialPort:Name"];
var baudRate = Convert.ToInt32(Configuration["SerialPort:BaudRate"]);;
var driver = new Driver(serialPort, baudRate);
var poseEngine = new PoseEngine(driver);
services.AddSingleton <Driver>(driver);
services.AddSingleton <PoseEngine>(poseEngine);
}
public CommandController(IConfiguration Configuration, Driver driver, PoseEngine poseEngine)
{
_configuration = Configuration;
_driver = driver;
_poseEngine = poseEngine;
}
