/// <summary>
/// Robot Constructor: initilizes variables
/// </summary>
/// <param name="teamID">Team ID</param>
/// <param name="radioComPort">Radio Com Port</param>
public Robot(string teamID, String radioComPort)
{
actuators = new ArrayList();
sensors = new ArrayList();
ports = new ArrayList();
canMove = true;
I2CDevice.Configuration conA = new I2CDevice.Configuration(0x0A, 100);
i2c = new I2CDevice(conA);
isAutonomous = false;
this.teamID = teamID;
radio = new Radio_Series1(this, radioComPort);
shiftBrite = new A6281.Single(Cpu.Pin.GPIO_NONE, (Cpu.Pin)FEZ_Pin.Digital.Di9, (Cpu.Pin)FEZ_Pin.Digital.Di10, SPI.SPI_module.SPI1);
shiftBrite.On = true;
shiftBriteTimer = 0;
shiftBrite.SetColorImmediate(700, 700, 700);
heartbeatTimer = DateTime.Now.Ticks;
// Set the team color for the shiftBrite
// Still to be implemented in 0.1c
// Make a deep copy of the UI values so they don't change mid-update
UIAnalogVals = (int[])radio.UIAnalogVals.Clone();
UIDigitalVals = (bool[])radio.UIDigitalVals.Clone();
}
public XBeeInterfaceReceiver(Radio_Series1 p)
{
state = (int)RXState.IDLE;
buffer = new byte[128];
packet = new XBeeRXPacket();
parent = p;
}
/// <summary>
/// Robot Constructor: initilizes variables
/// </summary>
/// <param name="teamID">Team ID</param>
/// <param name="radioComPort">Radio Com Port</param>
public Robot(string teamID, String radioComPort)
{
actuators = new ArrayList();
sensors = new ArrayList();
ports = new ArrayList();
canMove = true;
isAutonomous = false;
this.teamID = teamID;
radio = new Radio_Series1(this, radioComPort);
shiftBrite = new A6281.Single(Cpu.Pin.GPIO_NONE, (Cpu.Pin)FEZ_Pin.Digital.Di9, (Cpu.Pin)FEZ_Pin.Digital.Di10, SPI.SPI_module.SPI1);
previousTime = 0;
// Set the team color for the shiftBrite
// Still to be implemented in 0.1c
if (true)
{
shiftBrite.SetColorImmediate(650, 350, 0);
}
else
{
shiftBrite.SetColorImmediate(0, 0, 500);
}
// Make a deep copy of the UI values so they don't change mid-update
UIAnalogVals = (int[])radio.UIAnalogVals.Clone();
UIDigitalVals = (bool[])radio.UIDigitalVals.Clone();
}