public Form1() { InitializeComponent(); RunMode runMode = RunMode.Real; if (!Constants.IsWinCE) { runMode= RunMode.Virtual; } Drive _drive = new Drive(runMode); commonRunParameters1.SpeedChanged += new EventHandler(commonRunParameters1_SpeedChanged); commonRunParameters1.AccelerationChanged += new EventHandler(commonRunParameters1_AccelerationChanged); driveView1.Drive = _drive; runLine1.Drive = _drive; }
public Form1() { InitializeComponent(); drv = new Drive(RunMode.Real); this.driveCtrlView1.DriveCtrl = drv.DriveCtrl; this.runLineView1.drive = drv; this.trackTurnView1.drive = drv; this.driveView1.Drive = drv; this.trackArc1.drive = drv; drv.Power = true; DigitalInHW inHW = new DigitalInHW(Constants.IOConsoleSWITCH); s1= new Switch(inHW, Switches.Switch1); s2 = new Switch(inHW,Switches.Switch2); s3 = new Switch(inHW,Switches.Switch3); s1.SwitchStateChanged += new EventHandler<SwitchEventArgs>(s_SwitchStateChanged); s2.SwitchStateChanged += new EventHandler<SwitchEventArgs>(s2_SwitchStateChanged); s3.SwitchStateChanged += new EventHandler<SwitchEventArgs>(s3_SwitchStateChanged); }
public void InterpretCommandTest() { RunMode actualMode = Constants.IsWinCE ? RunMode.Real : RunMode.Virtual; Drive drv = new Drive(actualMode); Robot r = new Robot(actualMode); World.Robot = r; Interpreter interpreter = new Interpreter(); //Interpreter_Accessor target = new Interpreter_Accessor(); // TODO: Initialize to an appropriate value Command cmd = new Command(); // TODO: Initialize to an appropriate value cmd.Method = "RunLine";//RunLine(float length, float speed, float acceleration) //cmd.Parameters.Add(new CommandParam() { Type = typeof(float), Parameter = 1 }); //cmd.Parameters.Add(new CommandParam() { Type = typeof(float), Parameter = 1 }); //cmd.Parameters.Add(new CommandParam() { Type = typeof(float), Parameter = 1 }); ////cmd.Parameters.Add(new CommandParam() { Type = typeof(float), Parameter = 1 }); //interpreter.InterpretCommand(cmd); //target.InterpretCommand(cmd); Assert.Inconclusive("A method that does not return a value cannot be verified."); }
public FormWorldControl() { InitializeComponent(); RunMode actualMode = Constants.IsWinCE ? RunMode.Real : RunMode.Virtual; Drive drv = new Drive(actualMode); Robot r = new Robot(actualMode); drv.DriveCtrl.Power = true; drv.DriveCtrl.PowerLeft = true; drv.DriveCtrl.PowerRight = true; this.runLineView1.drive = drv; this.driveView1.Drive = drv; this.trackArc1.drive = drv; this.trackTurnView1.drive = drv; r.ConfigurePathRecording(0.05f, 0.1f); drv.Position = new PositionInfo(5.0f, 5.0f, 0.0f); r.drv = drv; r.Color = Color.Red; World.Robot = r; r.SwitchStateChanged += new EventHandler<SwitchEventArgs>(r_SwitchStateChanged); RobotConsole rc = r.RobotConsole; consoleView1.RobotConsole = rc; if (r.RunMode == RunMode.Virtual) { World.ObstacleMap = new ObstacleMap(RobotView.Resource.ObstacleMap1c, xMin-0.25f, xMax+0.25f, yMin-0.25f, yMax-0.25f); //korrektur wg. doofen bildern } view = new FormWorldView(xMin, yMin, xMax, yMax); view.ViewPort = new RobotView.ViewPort(xMin, xMax, yMin, yMax); view.Show(); this.StartServices(); }
/// <summary> /// Disposed das Drive-Objekt sowie die robotConsole. /// Damit werden die Worker-Threads in diesen Objekten beendet /// </summary> public void Dispose() { Drive.Dispose(); this.robotConsole.Dispose(); }
public Robot() { this.robotConsole = new RobotConsole(); this.radar = new Radar(Constants.IORadarSensor); Drive = new Drive(); }
public Robot() { this.robotConsole = new RobotConsole(); this.drive = new Drive(); }
private void initDrive() { Drive = new Drive(this.RunMode); positions = new List<PositionInfo>(); }