private void button1_Click(object sender, EventArgs e) { robot.ReadLaserValues(); Console.WriteLine("Robot: {0} {1}", robot.Center.x, robot.Center.y); Console.WriteLine("Robot: {0} {1} {2} {3}", robot.LL, robot.LF, robot.RF, robot.RR); CreatePathForm createPathForm = new CreatePathForm(); createPathForm.FormClosing += (o, form) => { var src = new Point(Int32.Parse(createPathForm.srcXTextBox.Text), Int32.Parse(createPathForm.srcYTextBox.Text)); LocationApproximator locationApproximator = new LocationApproximator(); locationApproximator.SetUp(map); Point loc = locationApproximator.GetLocation((int)(src.x - R / 2), (int)(src.y - R / 2), R, R, 2, robot.LL, robot.LF, robot.RR, robot.RF); robot.Center = loc; Console.WriteLine("Robot: {0} {1}", robot.Center.x, robot.Center.y); Console.WriteLine("Robot: {0} {1} {2} {3}", robot.LL, robot.LF, robot.RF, robot.RR); Render(); }; createPathForm.Show(); Render(); }
private void navigateBtn_Click(object sender, EventArgs e) { CreatePathForm createPathForm = new CreatePathForm(); createPathForm.map = map; createPathForm.FormClosing += (o, form) => { route = new RoutePlanner(robot, map); var src = new Point(Int32.Parse(createPathForm.srcXTextBox.Text), Int32.Parse(createPathForm.srcYTextBox.Text)); var dest = new Point(Int32.Parse(createPathForm.dstXtextBox.Text), Int32.Parse(createPathForm.dstYTextBox.Text)); route.Start(src, dest); Timer1.Enabled = true; }; createPathForm.Show(); }
private void bntBtn_Click(object sender, EventArgs e) { /// robot.ReadLaserValues(); // robot.Rotate(90); // return; //Console.WriteLine("Robot: {0} {1}", robot.Center.x, robot.Center.y); //Console.WriteLine("Robot: {0} {1} {2} {3}", robot.LL, robot.LF, robot.RF, robot.RR); CreatePathForm createPathForm = new CreatePathForm(); createPathForm.FormClosing += (o, form) => { var src = new Point(Int32.Parse(createPathForm.srcXTextBox.Text), Int32.Parse(createPathForm.srcYTextBox.Text)); // LocationApproximator locationApproximator = new LocationApproximator(); // locationApproximator.SetUp(map); // Point loc = locationApproximator.GetLocation((int)(src.x - R / 2), (int)(src.y - R / 2), R, R, 2, robot.LL, robot.LF, robot.RR, robot.RF); // robot.Center = loc; Console.WriteLine("Robot: {0} {1}", robot.Center.x, robot.Center.y); Console.WriteLine("Robot: {0} {1} {2} {3}", robot.LL, robot.LF, robot.RF, robot.RR); bnt = new BNT(map, robot); List <String> names = new List <string>(createPathForm.dstXtextBox.Text.Split(' ')); List <String> oo = new List <string>(createPathForm.dstYTextBox.Text.Split(' ')); List <Orientation> orientations = oo.ConvertAll(input => { Orientation orientation; Enum.TryParse <Orientation>(input, out orientation); return(orientation); }); // bnt.TEST(src, names, orientations); bnt.Start(src, names, orientations); Timer1.Enabled = true; Render(); }; createPathForm.Show(); Render(); }