public static void Init()
{
_canServos = new CanServos(Connections.ConnectionCan);
_buzzer = new Buzzer(Connections.ConnectionCan);
try
{
_lidarGround = new HokuyoRec(LidarID.Ground);
if (Config.CurrentConfig.IsMiniRobot)
{
_lidarAvoid = new Hokuyo(LidarID.Avoid, "COM3");
}
else
{
_lidarAvoid = new Pepperl(IPAddress.Parse("10.1.0.50"));
((Pepperl)_lidarAvoid).SetFrequency(PepperlFreq.Hz20);
((Pepperl)_lidarAvoid).SetFilter(PepperlFilter.Average, 3);
}
}
catch (Exception ex)
{
MessageBox.Show("ERREUR INIT LIDAR : " + ex.Message);
}
}
public static void InitSimu()
{
_canServos = new CanServos(Connections.ConnectionCan);
_lidarGround = new LidarSimu();
_lidarAvoid = new LidarSimu();
}