public void InitializeSystem()
{
debug = new OutputPort((Cpu.Pin)PortMap.debug, false);
debug.Write(true);
coder = new Coder();
Thread.Sleep(17000);
coder.Start();
Info("Initializing System...");
navigation = new NavigationManager();
Info("Initialized NavigationManager");
sensors = new SensorManager();
Info("Initialized SensorManager");
battery = new BatteryManager();
Info("Initialized BatteryManager");
currentMode = Mode.SearchingForWall;
sensorTimer = new Timer(new TimerCallback(sensorTimer_tick), new object(), 0, GlobalVal.transmissionPeriodSensor_ms);
positionTimer = new Timer(new TimerCallback(posTimer_Tick), new object(), 0, GlobalVal.transmissionPeriodPosition_ms);
batteryTimer = new Timer(new TimerCallback(batteryTimer_Tick), new object(), 0, GlobalVal.transmissionPeriodBattery_ms);
magTimer = new Timer(new TimerCallback(magnetometer_Tick), new object(), 0, GlobalVal.trasmissionPeriodMagnetometer_ms);
Info("Initialized Timers");
cancel = false;
debug.Write(false);
navigation.manualSpeed = GlobalVal.speed;
navigation.manualTurningSpeed = GlobalVal.turningSpeed;
Info("Ready");
}
public void InitializeSystem()
{
debug = new OutputPort((Cpu.Pin)PortMap.debug, false);
debug.Write(true);
coder = new Coder();
Thread.Sleep(17000);
coder.Start();
Info("Initializing System...");
navigation = new NavigationManager();
Info("Initialized NavigationManager");
sensors = new SensorManager();
Info("Initialized SensorManager");
battery = new BatteryManager();
Info("Initialized BatteryManager");
currentMode = Mode.SearchingForWall;
sensorTimer = new Timer(new TimerCallback(sensorTimer_tick), new object(), 0, GlobalVal.transmissionPeriodSensor_ms);
positionTimer = new Timer(new TimerCallback(posTimer_Tick), new object(), 0, GlobalVal.transmissionPeriodPosition_ms);
batteryTimer = new Timer(new TimerCallback(batteryTimer_Tick), new object(), 0, GlobalVal.transmissionPeriodBattery_ms);
magTimer = new Timer(new TimerCallback(magnetometer_Tick), new object(), 0, GlobalVal.trasmissionPeriodMagnetometer_ms);
Info("Initialized Timers");
cancel = false;
debug.Write(false);
navigation.manualSpeed = GlobalVal.speed;
navigation.manualTurningSpeed = GlobalVal.turningSpeed;
Info("Ready");
}