public async Task Start()
{
var spheros = await SpheroConnectionProvider.DiscoverSpheros();
var sphero = spheros.FirstOrDefault();
if (sphero != null)
{
var connection = await SpheroConnectionProvider.CreateConnection(sphero);
if (connection != null)
{
connection.OnDisconnection += () => Tracer.Trace("Sphero disconnected");
_device = new SpheroDevice(connection);
Tracer.Trace("Sphero connected");
_device.ReinitMacroExecutive(response =>
{
if (response == MessageResponseCode.ORBOTIX_RSP_CODE_OK)
{
var flipMacro = new Macro(MacroType.Permanent, FLIP_MACRO);
flipMacro.Commands.Add(new SendRawMotorMacroCommand
{
LeftMode = MotorMode.Forward,
LeftPower = 255,
RightMode = MotorMode.Forward,
RightPower = 255,
PCD = 255
});
flipMacro.Commands.Add(new DelayMacroCommand {
Time = 150
});
flipMacro.Commands.Add(new SendRawMotorMacroCommand
{
LeftMode = MotorMode.Off,
LeftPower = 0,
RightMode = MotorMode.Off,
RightPower = 0,
PCD = 255
});
flipMacro.Commands.Add(new SetStabilizationMacroCommand
{
Flag = StabilizationStatus.OnWithoutReset,
PCD = 255
});
_device.SaveMacro(flipMacro, null);
Tracer.Trace("Flip macro stored");
}
});
return;
}
}
Tracer.Error("Sphero not found");
}
private async void btnConnection_Click(object sender, RoutedEventArgs e)
{
if (SpherosDiscovered.SelectedItem != null)
{
SpheroConnection connection = await SpheroConnectionProvider.CreateConnection((SpheroInformation)SpherosDiscovered.SelectedItem);
Frame.Navigate(typeof(ConnectedPage), connection);
}
}
private async void btnConnection_Click(object sender, RoutedEventArgs e)
{
if (SpherosDiscovered.SelectedItem != null)
{
SpheroInformation information = (SpheroInformation)SpherosDiscovered.SelectedItem;
SpheroConnection connection = await SpheroConnectionProvider.CreateConnection(information);
if (connection == null)
{
MessageBox.Show("Connection failed");
}
else
{
App.CurrentConnection = connection;
NavigationService.Navigate(new Uri("/MacroPage.xaml", UriKind.RelativeOrAbsolute));
}
}
}
public static async Task <JediSphero> GetSpheroAsync()
{
IEnumerable <SpheroInformation> spheros = await SpheroConnectionProvider.DiscoverSpheros();
SpheroInformation spheroInfo = spheros.FirstOrDefault();
if (spheroInfo == null)
{
return(null);
}
SpheroConnection connection = await SpheroConnectionProvider.CreateConnection(spheroInfo);
if (connection == null)
{
return(null);
}
var spheroDevice = new JediSphero(connection);
return(spheroDevice);
}