void Update()
{
if (client.connection.IsConnected)
{
client.Update();
int acellX = client.wrapper.Mpus[0].Accel_Values[0];
int acellY = client.wrapper.Mpus[0].Accel_Values[1];
int acellZ = client.wrapper.Mpus[0].Accel_Values[2];
int gyroX = client.wrapper.Mpus[0].Gyro_Values[0];
int gyroY = client.wrapper.Mpus[0].Gyro_Values[1];
int gyroZ = client.wrapper.Mpus[0].Gyro_Values[2];
double angleX = client.wrapper.Mpus[0].Angle_Values[0];
double angleY = client.wrapper.Mpus[0].Angle_Values[1];
double angleZ = client.wrapper.Mpus[0].Angle_Values[2];
int potentiometer = client.wrapper.Potentiometers[0].Value;
bool buttonState = client.wrapper.Buttons[0].State;
int r = client.wrapper.RgbLeds[0].R_value;
int g = client.wrapper.RgbLeds[0].G_value;
int b = client.wrapper.RgbLeds[0].B_value;
txtButton.text = "BUTTON: " + buttonState;
txtPotentiometer.text = "POTENTIOMETER: " + potentiometer;
txtAccel.text = "ACELEROMETER: (" + acellX + ", " + acellY + ", " + acellZ + ")";
txtGyro.text = "GYRO: (" + gyroX + ", " + gyroY + ", " + gyroZ + ")";
txtAngle.text = "ANGLE: (" + angleX + ", " + angleY + ", " + angleZ + ")";
txtRGBLed.text = "RGB LED: (" + r + ", " + g + ", " + b + ")";
float intensity = potentiometer / 1000.0f;
if (buttonState)
{
client.wrapper.RgbLeds[0].SetRGB_Value((int)(intensity * 1023), (int)(intensity * 0), (int)(intensity * 1023));
client.wrapper.RgbLeds[0].SetMode(Helper.LedMode.STATIC);
//wrapper.GetRGBLed(0)->SetMode(LedMode::BLINKING, 500, 100);
string s = client.wrapper.RgbLeds[0].UpdatedJson();
if (!string.IsNullOrEmpty(s))
{
client.connection.SendMessage(s);
}
}
else
{
client.wrapper.RgbLeds[0].SetRGB_Value((int)(intensity * 0), (int)(intensity * 1023), (int)(intensity * 1023));
client.wrapper.RgbLeds[0].SetMode(Helper.LedMode.STATIC);
string s = client.wrapper.RgbLeds[0].UpdatedJson();
if (!string.IsNullOrEmpty(s))
{
client.connection.SendMessage(s);
}
}
System.Threading.Thread.Sleep(20);
}
}
public void UpdateForm()
{
client = GearSDK.CreateClient("192.168.15.4", 81);
client.Init();
while (client.connection.IsConnected)
{
client.Update();
int acellX = client.wrapper.Mpus[0].Accel_Values[0];
int acellY = client.wrapper.Mpus[0].Accel_Values[1];
int acellZ = client.wrapper.Mpus[0].Accel_Values[2];
int gyroX = client.wrapper.Mpus[0].Gyro_Values[0];
int gyroY = client.wrapper.Mpus[0].Gyro_Values[1];
int gyroZ = client.wrapper.Mpus[0].Gyro_Values[2];
double angleX = client.wrapper.Mpus[0].Angle_Values[0];
double angleY = client.wrapper.Mpus[0].Angle_Values[1];
double angleZ = client.wrapper.Mpus[0].Angle_Values[2];
int potentiometer = client.wrapper.Potentiometers[0].Value;
bool buttonState = client.wrapper.Buttons[0].State;
int r = client.wrapper.RgbLeds[0].R_value;
int g = client.wrapper.RgbLeds[0].G_value;
int b = client.wrapper.RgbLeds[0].B_value;
ckbButton.Checked = buttonState;
txtPotentiometer.Value = potentiometer;
txtAccelX.Value = acellX;
txtAccelY.Value = acellY;
txtAccelZ.Value = acellZ;
txtGyroX.Value = gyroX;
txtGyroY.Value = gyroY;
txtGyroZ.Value = gyroZ;
txtAngleX.Value = (int)angleX;
txtAngleY.Value = (int)angleY;
txtAngleZ.Value = (int)angleZ;
txtRValue.Value = r;
txtGValue.Value = g;
txtBValue.Value = b;
float intensity = potentiometer / 1000.0f;
if (buttonState)
{
client.wrapper.RgbLeds[0].SetRGB_Value((int)(intensity * 1023), (int)(intensity * 0), (int)(intensity * 1023));
client.wrapper.RgbLeds[0].SetMode(Helper.LedMode.STATIC);
//wrapper.GetRGBLed(0)->SetMode(LedMode::BLINKING, 500, 100);
string s = client.wrapper.RgbLeds[0].UpdatedJson();
if (!string.IsNullOrEmpty(s))
{
client.connection.SendMessage(s);
}
}
else
{
client.wrapper.RgbLeds[0].SetRGB_Value((int)(intensity * 0), (int)(intensity * 1023), (int)(intensity * 1023));
client.wrapper.RgbLeds[0].SetMode(Helper.LedMode.STATIC);
string s = client.wrapper.RgbLeds[0].UpdatedJson();
if (!string.IsNullOrEmpty(s))
{
client.connection.SendMessage(s);
}
}
System.Threading.Thread.Sleep(20);
this.Refresh();
}
}
static void Main(string[] args)
{
csharp_Client client = GearSDK.CreateClient("192.168.15.9", 81);
client.Init();
while (client.connection.IsConnected)
{
client.Update();
int acellX = client.wrapper.Mpus[0].Accel_Values[0];
int acellY = client.wrapper.Mpus[0].Accel_Values[1];
int acellZ = client.wrapper.Mpus[0].Accel_Values[2];
int gyroX = client.wrapper.Mpus[0].Gyro_Values[0];
int gyroY = client.wrapper.Mpus[0].Gyro_Values[1];
int gyroZ = client.wrapper.Mpus[0].Gyro_Values[2];
double angleX = client.wrapper.Mpus[0].Angle_Values[0];
double angleY = client.wrapper.Mpus[0].Angle_Values[1];
double angleZ = client.wrapper.Mpus[0].Angle_Values[2];
int potentiometer = client.wrapper.Potentiometers[0].Value;
bool buttonState = client.wrapper.Buttons[0].State;
int r = client.wrapper.RgbLeds[0].R_value;
int g = client.wrapper.RgbLeds[0].G_value;
int b = client.wrapper.RgbLeds[0].B_value;
int motorValue = client.wrapper.Servos[0].Value;
Console.WriteLine("BUTTON: " + buttonState);
Console.WriteLine("POTENTIOMETER: " + potentiometer);
Console.WriteLine("ACELEROMETER: (" + acellX + ", " + acellY + ", " + acellZ + ")");
Console.WriteLine("GYRO: (" + gyroX + ", " + gyroY + ", " + gyroZ + ")");
Console.WriteLine("ANGLE: (" + angleX + ", " + angleY + ", " + angleZ + ")");
Console.WriteLine("RGB LED: (" + r + ", " + g + ", " + b + ")");
Console.WriteLine("SERVO: " + motorValue);
float intensity = potentiometer / 1000.0f;
if (buttonState)
{
client.wrapper.RgbLeds[0].SetRGB_Value((int)(intensity * 1023), (int)(intensity * 0), (int)(intensity * 1023));
client.wrapper.RgbLeds[0].SetMode(Helper.LedMode.STATIC);
//wrapper.GetRGBLed(0)->SetMode(LedMode::BLINKING, 500, 100);
string s = client.wrapper.RgbLeds[0].UpdatedJson();
if (!String.IsNullOrEmpty(s))
{
client.connection.SendMessage(s);
}
client.wrapper.Servos[0].Value = 0;
s = client.wrapper.Servos[0].UpdatedJson();
if (!String.IsNullOrEmpty(s))
{
client.connection.SendMessage(s);
}
}
else
{
client.wrapper.RgbLeds[0].SetRGB_Value((int)(intensity * 0), (int)(intensity * 1023), (int)(intensity * 1023));
client.wrapper.RgbLeds[0].SetMode(Helper.LedMode.STATIC);
string s = client.wrapper.RgbLeds[0].UpdatedJson();
if (!String.IsNullOrEmpty(s))
{
client.connection.SendMessage(s);
}
client.wrapper.Servos[0].Value = 15;
s = client.wrapper.Servos[0].UpdatedJson();
if (!String.IsNullOrEmpty(s))
{
client.connection.SendMessage(s);
}
}
System.Threading.Thread.Sleep(30);
Console.Clear();
}
}