public virtual void Bind(Beagle robot, Joystick joystick)
{
if (robot == null) throw new ArgumentNullException("robot");
if (joystick == null) throw new ArgumentNullException("joystick");
_robot = robot;
_joystick = joystick;
}
private void connectButton_Click(object sender, RoutedEventArgs e)
{
string host = hostTextBox.Text;
int i2cCommandPort = int.Parse(i2cCommandPortTextBox.Text);
int cameraPort = int.Parse(cameraPortTextBox.Text);
Settings.Default.Host = host;
Settings.Default.I2CProxyPort = i2cCommandPort;
Settings.Default.CameraPort = cameraPort;
Settings.Default.Save();
var robot = new Beagle();
robot.Host = host;
robot.I2CCommandPort = i2cCommandPort;
robot.I2CPollPort = i2cCommandPort + 1;
robot.CameraPort = cameraPort;
robot.Init();
bool ok = robot.Connect();
if (!ok)
{
MessageBox.Show("Unable to connect. Please check your settings.", "Connect", MessageBoxButton.OK, MessageBoxImage.Error);
return;
}
var main = new MainWindow();
main.Robot = robot;
main.Show();
expectedToClose = true;
Close();
}
public override void Bind(Beagle robot, Joystick joystick)
{
base.Bind(robot, joystick);
joystick.MainAxisChanged += Joystick_MainAxisChanged;
}
public override void Bind(Beagle robot, Joystick joystick)
{
base.Bind(robot, joystick);
if (Joystick != null) joystick.PointOfViewPressed += joystick_PointOfViewChanged;
DataContext = robot.ServoController;
}
public override void Bind(Beagle robot, Joystick joystick)
{
base.Bind(robot, joystick);
joystick.TriggerPressed += joystick_TriggerClicked;
DataContext = robot.UltrasonicRangeFinder;
}
public override void Bind(Beagle robot, Joystick joystick)
{
base.Bind(robot, joystick);
DataContext = robot;
}