public static async Task DoRequest(Mat frame, Robot.Components.Robot robot)
{
Body body = robot.GetBody();
Cv2.ImEncode(".png", frame, out var buffer);
var bufferAsText = Convert.ToBase64String(buffer);
float[] servos =
{
body.GetFrontBodyPart().GetLegs()[0].GetServo().GetAngle().AsDegrees(),
body.GetFrontBodyPart().GetLegs()[1].GetServo().GetAngle().AsDegrees(),
body.GetBackBodyPart().GetLegs()[0].GetServo().GetAngle().AsDegrees(),
body.GetBackBodyPart().GetLegs()[1].GetServo().GetAngle().AsDegrees(),
};
float[] targetDegrees =
{
body.GetFrontBodyPart().GetLegs()[0].GetServo().GetTargetDegree(),
body.GetFrontBodyPart().GetLegs()[1].GetServo().GetTargetDegree(),
body.GetBackBodyPart().GetLegs()[0].GetServo().GetTargetDegree(),
body.GetBackBodyPart().GetLegs()[1].GetServo().GetTargetDegree(),
};
int[] motors =
{
body.GetFrontBodyPart().GetLegs()[0].GetWheel().GetMotor().GetPwm(),
body.GetFrontBodyPart().GetLegs()[1].GetWheel().GetMotor().GetPwm(),
body.GetBackBodyPart().GetLegs()[0].GetWheel().GetMotor().GetPwm(),
body.GetBackBodyPart().GetLegs()[1].GetWheel().GetMotor().GetPwm(),
};
// float weight = robot.GetGripper().GetLoadCell().GetWeight();
// Console.WriteLine(weight);
var package = new Package(bufferAsText, servos, targetDegrees, motors, 0);
var json = JsonConvert.SerializeObject(package);
var httpContent = new StringContent(json, System.Text.Encoding.UTF8, "application/json");
try {
var responseBody = await httpClient.PostAsync(address, httpContent);
} catch {
}
}
private void InitializeRobot()
{
var legZeroAngle = new Degrees(135);
var legMinAngle = new Degrees(45);
var legMaxAngle = new Degrees(175);
var legLength = 108;
var legDistanceToWheel = 29;
var frontLeftLeg = new Leg(
new Servo(3, true, legZeroAngle, legMinAngle, legMaxAngle),
new Wheel(
new Motor(0)
),
legLength,
legDistanceToWheel
);
var frontRightLeg = new Leg(
new Servo(2, false, legZeroAngle, legMinAngle, legMaxAngle),
new Wheel(
new Motor(2)
),
legLength,
legDistanceToWheel
);
var backLeftLeg = new Leg(
new Servo(1, false, legZeroAngle, legMinAngle, legMaxAngle),
new Wheel(
new Motor(1)
),
legLength,
legDistanceToWheel
);
var backRightLeg = new Leg(
new Servo(0, true, legZeroAngle, legMinAngle, legMaxAngle),
new Wheel(
new Motor(3)
),
legLength,
legDistanceToWheel
);
this.robot = new Robot.Components.Robot(
new Body(
new BodyPart(new List <Leg>()
{
frontLeftLeg, frontRightLeg
}),
new BodyPart(new List <Leg>()
{
backLeftLeg, backRightLeg
}),
new BodyPart(new List <Leg>()
{
frontLeftLeg, backLeftLeg
}),
new BodyPart(new List <Leg>()
{
frontRightLeg, backRightLeg
})
),
new Joystick(0, 3, 63),
new Joystick(1, 0, 63),
new Joystick(2, 3, 63),
new Joystick(3, 0, 63),
new Gripper(
new Servo(4, false, new Degrees(135), new Degrees(90), new Degrees(135)), new LoadCell()
)
);
this.logger.LogDebug("Initialized robot");
}
