A virtual representation of e-Puck, which allows control the robot with its methods. More...

Public Member Functions

delegate void OkfActuators (object data)

A format of functions, which are called if the command for an actuator is successfully confirmed in timeout.

void SetEncoders (int leftMotor, int rightMotor, OkfActuators okf, KofCallback kof, object state, double timeout)

Sets encoders values. One revolution corresponds to 1000 steps.

void CalibrateIRSensors (OkfActuators okf, KofCallback kof, object state, double timeout)

Calibrates proximity IR sensors, which makes IR sensors more accurate for measuring proximity. Calibration adapts sensor for different reflection of IR light in the current environment.

void Stop (OkfActuators okf, KofCallback kof, object state, double timeout)

It stops e-Puck and turn off leds.

void Reset (OkfActuators okf, KofCallback kof, object state, double timeout)

It restars e-Puck.

void Motors (double leftMotor, double rightMotor, OkfActuators okf, KofCallback kof, object state, double timeout)

Sets Left and Right Motor speed. Acceptable values are from -1 to 1. Value 1 corresponds to 1 revolution per second. Wheels have perimeter of 12,88 mm.

void LightX (int num, Turn how, OkfActuators okf, KofCallback kof, object state, double timeout)

Sets a LED with number n on,off or into inverse state. Acceptable values are 0..7(resp. 8). Value 8 represents all diodes at once.

void BodyLight (Turn how, OkfActuators okf, KofCallback kof, object state, double timeout)

Sets Body led on, off or into an inverse state.

void FrontLight (Turn how, OkfActuators okf, KofCallback kof, object state, double timeout)

Sets Front led on, off or into an inverse state. It can produce enough light for capturing close obstacles with e-Puck's camera.

void SetCam (int width, int height, Zoom zoom, CamMode mode, OkfActuators okf, KofCallback kof, object state, double timeout)

It sets the parameters of a camera. Maximum size of a picture can be 3200 bytes. The picture size S = width*height bytes; for black and white mode S = width*height*2 bytes; for colourful mode.

void PlaySound (int SoundNum, OkfActuators okf, KofCallback kof, object state, double timeout)

It begins to play sound. Values 0-5 are for different sounds. 6 turns speaker off.

void EndFtion (IAsyncResult ar)

It waits synchronously until the function, which created the instance ofAsyncNoResult ar finished.

int[] EndGetFtion (IAsyncResult ar)

It waits synchronously until a function, which asked for sensors with values, gets the desired answer or timeout elapses. It uses ar in order to get the values.

string EndInfoFtion (IAsyncResult ar)

It waits synchronously until a function, which asked for sensors with values, gets the desired answer or timeout elapses. It uses ar in order to get the values.

Bitmap EndGetImage (IAsyncResult ar)

It waits synchronously until a function, which asked for an image, gets the System.Drawing.Bitmap or timeout elapses. It uses ar in order to get the System.Drawing.Bitmap.

IAsyncResult BeginSetEncoders (int leftTicks, int rightTicks, double timeout, AsyncCallback callback, Object state)

Sets Left and Right Motor Encoder value.

IAsyncResult BeginCalibrateIRSensors (double timeout, AsyncCallback callback, Object state)

Calibrates proximity IR sensors, which makes IR sensors more accurate for measuring proximity. Calibration adapts sensor for different reflection of IR light in the current environment.

IAsyncResult BeginMotors (double leftMotor, double rightMotor, double timeout, AsyncCallback callback, Object state)

Sets Left and Right Motor speed. Acceptable values are from -1 to 1. Value 1 corresponds to 1 revolution per second. Wheels have perimeter of 12,88 mm.

IAsyncResult BeginGetMikes (double timeout, AsyncCallback callback, object state)

It gets the current amplitude of sound from e-Puck's 3 speakers.

IAsyncResult BeginGetLight (double timeout, AsyncCallback callback, object state)

Returns a command to get the array of integers from IR sensors. The more ambient light, the lower the values. Usual values are above 3000. Maximal value is 5000.

IAsyncResult BeginStop (double timeout, AsyncCallback callback, Object state)

It stops e-Puck and turn off leds.

IAsyncResult BeginReset (double timeout, AsyncCallback callback, Object state)

It restarts e-Puck.

IAsyncResult BeginFrontLight (Turn how, double timeout, AsyncCallback callback, Object state)

Sets Front led on, off or into an inverse state. It can produce enough light for capturing close obstacles with e-Puck's camera.

IAsyncResult BeginLightX (int num, Turn how, double timeout, AsyncCallback callback, Object state)

Sets a LED with number n on,off or into inverse state. Acceptable values are 0..7(resp. 8). Value 8 represents all diodes at once.

IAsyncResult BeginBodyLight (Turn how, double timeout, AsyncCallback callback, Object state)

Sets Body led on, off or into an inverse state.

IAsyncResult BeginGetIRData (double timeout, AsyncCallback callback, Object state)

It gets the IR data in in array of 6 integers with following meaning IR check : 0xx, address : 0xx, data : 0xx.

IAsyncResult BeginGetInfoHelp (double timeout, AsyncCallback callback, Object state)

It shows Epuck's help sent from e-Puck.

IAsyncResult BeginSetCam (int width, int height, Zoom zoom, CamMode mode, double timeout, AsyncCallback callback, Object state)

It sets the parameters of a camera. Maximum size of a picture can be 3200 bytes. The picture size S = width*height bytes; for black and white mode S = width*height*2 bytes; for colourful mode.

IAsyncResult BeginPlaySound (int SoundNum, double timeout, AsyncCallback callback, Object state)

It begins to play sound. Values 0-5 are for different sounds. 6 turns speaker off.

IAsyncResult BeginGetInfoVersion (double timeout, AsyncCallback callback, Object state)

It gets the BTCom version from e-Puck.

IAsyncResult BeginGetIR (double timeout, AsyncCallback callback, object state)

It gets the proximity from IR sensors. Obstacle can be recognized up to 4 cm.

IAsyncResult BeginGetAccelerometer (double timeout, AsyncCallback callback, object state)

It returns vector of values, which indicates the slant of e-Puck.

IAsyncResult BeginGetSelector (double timeout, AsyncCallback callback, object state)

It returns a selector position.

IAsyncResult BeginGetSpeed (double timeout, AsyncCallback callback, object state)

It gets the current speed of both wheels. Speed on a wheel is from -1 to 1. Value 1 corresponds to 1 revolution per second. Wheels have perimeter of 12,88 mm.

IAsyncResult BeginGetCamParams (double timeout, AsyncCallback callback, object state)

It gets current camera settings. The picture size S = width*height, black or white mode and zoom.

IAsyncResult BeginGetEncoders (double timeout, AsyncCallback callback, object state)

It gets a current state of encoders. It is measured in steps. One forward revolution corresponds to +1000 steps.It is nulled if the e-Puck resets.

IAsyncResult BeginGetImage (double timeout, AsyncCallback callback, object state)

It gets a picture. It can take a long time. E.g. picture 40*40 in colour takes more than 0.4 sec under good light conditions and with battery fully charged.

Epuck (string Port, string Name)

Initializes a new instance of the Epuck class.

void WriteToLogStream (string comment)

WriteToLogStream adds to LogStream a comment. (Before passed strings puts '#'.)

void Dispose ()

Performs application-defined tasks associated with freeing, releasing, or resetting unmanaged resources. It takes under 0.5 s.

override string ToString ()

Returns a System.String that represents this instance. A user defined robot name and Sercom parameters are returned.

void StartLogging ()

Exceptions:

T:ElibException is thrown when LogStream is null.

void StopLogging ()

Disables logging.

delegate void OkfIntsSensors (int[] ans, object data)

A format of functions, which are called when a command requiring an array of int is confirmed in timeout.

delegate void OkfStringSensors (string ans, object data)

A format of functions, which are called when a command requiring a string is confirmed in timeout.

delegate void OkfKofCamSensor (Bitmap ans, object data)

A format of functions, which are called when a command requiring a Bitmap is confirmed in timeout.

void GetImage (OkfKofCamSensor okf, OkfKofCamSensor kof, object state, double timeout)

It gets a picture. It can take a long time. E.g. picture 40*40 in colour takes more than 0.4 sec under good light conditions and with battery fully charged.

void GetIR (OkfIntsSensors okf, KofCallback kof, object state, double timeout)

It gets the proximity from IR sensors. Obstacle can be recognized up to 4 cm.

void GetAccelerometer (OkfIntsSensors okf, KofCallback kof, object state, double timeout)

It returns vector of values, which indicates the slant of e-Puck.

void GetSelector (OkfIntsSensors okf, KofCallback kof, object state, double timeout)

It returns a selector position.

void GetSpeed (OkfIntsSensors okf, KofCallback kof, object state, double timeout)

It gets the current speed of both wheels. Speed on a wheel is from -1 to 1. Value 1 corresponds to 1 revolution per second. Wheels have perimeter of 12,88 mm.

void GetCamParams (OkfIntsSensors okf, KofCallback kof, object state, double timeout)

It gets current camera settings. The picture size S = width*height, black or white mode and zoom.

void GetLight (OkfIntsSensors okf, KofCallback kof, object state, double timeout)

Returns a command to get the array of integers from IR sensors. The more ambient light, the lower the values. Usual values are above 3000. Maximal value is 5000.

void GetEncoders (OkfIntsSensors okf, KofCallback kof, object state, double timeout)

It gets a current state of encoders. It is measured in steps. One forward revolution corresponds to +1000 steps.It is nulled if the e-Puck resets.

void GetMikes (OkfIntsSensors okf, KofCallback kof, object state, double timeout)

It gets the current amplitude of sound from e-Puck's 3 speakers.

void GetIRData (OkfIntsSensors okf, KofCallback kof, object state, double timeout)

It gets the IR data in in array of 3 integers converted from hex number with following meaning. IR check : 0xx, address : 0xx, data : 0xx.

void GetHelpInfo (OkfStringSensors okf, KofCallback kof, object state, double timeout)

It shows Epuck's help sent from e-Puck.

void GetVersionInfo (OkfStringSensors okf, KofCallback kof, object state, double timeout)

It gets the BTCom version.

Public Attributes

const double WheelDiameter = 4.1

units: [cm]

const double Perch = 5.3

Distance between wheels of an e-Puck in cm.

const double MaxSpeed = 12.88

12.88 cm/s is a maximum speed of e-Puck. In Elib 13cm/sec corresponds to 1.00. From -1.00 to 1.00 is the speed linearly growing.

Static Public Attributes

static readonly int[] IRSensorsDegrees = new int[8] { 10, 30, 90, 170, 190, 270, 330, 350 }

Eight Infra Red sensors are placed on the perimeter of e-Puck, which can be obtained on the instance e of e-Puck by e.BeginGetIRSensors(..) method or by e.GetIRSensors(..) method. IrSensorsDegrees describes the degrees measured from front(There is a cam.) As you can see most of the sensors are on the front side of e-Puck.

Protected Member Functions

virtual void Dispose (bool disposing)

It releases unmanaged(Serial Port in Sercom and access to log file) and - optionally - managed resources.

Properties

static string BTComHelp [get]

It gets the BTCom help.

int Working [get]

Gets the number of unconfirmed commands in the Epuck instance.

int NotSent [get]

Gets the number of waiting commands in the notSent queue = commands waiting to be sent via Serial Port(Bluetooth).

string Name [get]

Gets the name specified in a constructor.

string Port [get]

Gets the port specified in the constructor.

bool Log [get]

Return a bool flag, which indicates whether logging is on.

TextWriter LogStream [get, set]

Enables sets or get TextWriter of e-Puck, where all actions of e-Puck are logged if logging is turned on.

Detailed Description

A virtual representation of e-Puck, which allows control the robot with its methods.

It uses Sercom internally. Epuck class can log its commands. It has two interfaces (basic interface based on Sercom and IAsyncResult interface

Constructor & Destructor Documentation

Elib.Epuck.Epuck	(	string	Port,
		string	Name
	)

Initializes a new instance of the Epuck class.

Parameters:

Port	The port.
Name	Choose a name for your robot! It is useful for logging.

Member Function Documentation

IAsyncResult Elib.Epuck.BeginBodyLight	(	Turn	how,
		double	timeout,
		AsyncCallback	callback,
		Object	state
	)

Sets Body led on, off or into an inverse state.

Parameters:

how	Turn change state of the LED?
timeout	Timeout[sec] set how long are you willing to wait for the command confirmation answer. If the confirmation does not arrived until timeout exception is raised
callback	A function which is called, after the confirmation answer is received.
state	An instance of any class, which is passed to the callback function as an argument.

Returns:: Returns an instance of AsyncNoResult.

IAsyncResult Elib.Epuck.BeginCalibrateIRSensors	(	double	timeout,
		AsyncCallback	callback,
		Object	state
	)

Calibrates proximity IR sensors, which makes IR sensors more accurate for measuring proximity. Calibration adapts sensor for different reflection of IR light in the current environment.

Parameters:

timeout	Timeout[sec] set how long are you willing to wait for the command confirmation answer. If the confirmation does not arrived until timeout exception is raised
callback	A function which is called, after the confirmation answer is received.
state	An instance of any class, which is passed to the callback function as an argument.

Returns:

IAsyncResult Elib.Epuck.BeginFrontLight	(	Turn	how,
		double	timeout,
		AsyncCallback	callback,
		Object	state
	)

Sets Front led on, off or into an inverse state. It can produce enough light for capturing close obstacles with e-Puck's camera.

Parameters:

how	Turn change state of the LED?
timeout	Timeout[sec] set how long are you willing to wait for the command confirmation answer. If the confirmation does not arrived until timeout exception is raised
callback	A function which is called, after the confirmation answer is received.
state	An instance of any class, which is passed to the callback function as an argument.

Returns:: Returns an instance of AsyncNoResult.

IAsyncResult Elib.Epuck.BeginGetAccelerometer	(	double	timeout,
		AsyncCallback	callback,
		object	state
	)

It returns vector of values, which indicates the slant of e-Puck.

Parameters:

timeout	Timeout[sec] set how long are you willing to wait for the command confirmation answer. If the confirmation does not arrived until timeout exception is raised
callback	A function which is called, after the confirmation answer is received.
state	An instance of any class, which is passed to the callback function as an argument.

Returns:

IAsyncResult Elib.Epuck.BeginGetCamParams	(	double	timeout,
		AsyncCallback	callback,
		object	state
	)

It gets current camera settings. The picture size S = width*height, black or white mode and zoom.

Parameters:

timeout	Timeout[sec] set how long are you willing to wait for the command confirmation answer. If the confirmation does not arrived until timeout exception is raised
callback	A function which is called, after the confirmation answer is received.
state	An instance of any class, which is passed to the callback function as an argument.

Returns:

IAsyncResult Elib.Epuck.BeginGetEncoders	(	double	timeout,
		AsyncCallback	callback,
		object	state
	)

It gets a current state of encoders. It is measured in steps. One forward revolution corresponds to +1000 steps.It is nulled if the e-Puck resets.

Parameters:

timeout	Timeout[sec] set how long are you willing to wait for the command confirmation answer. If the confirmation does not arrived until timeout exception is raised
callback	A function which is called, after the confirmation answer is received.
state	An instance of any class, which is passed to the callback function as an argument.

Returns:

IAsyncResult Elib.Epuck.BeginGetImage	(	double	timeout,
		AsyncCallback	callback,
		object	state
	)

It gets a picture. It can take a long time. E.g. picture 40*40 in colour takes more than 0.4 sec under good light conditions and with battery fully charged.

Parameters:

timeout	Timeout[sec] set how long are you willing to wait for the command confirmation answer. If the confirmation does not arrived until timeout exception is raised
callback	A function which is called, after the confirmation answer is received.
state	An instance of any class, which is passed to the callback function as an argument.

Returns:

IAsyncResult Elib.Epuck.BeginGetInfoHelp	(	double	timeout,
		AsyncCallback	callback,
		Object	state
	)

It shows Epuck's help sent from e-Puck.

Parameters:

timeout	Timeout[sec] set how long are you willing to wait for the command confirmation answer. If the confirmation does not arrived until timeout exception is raised
callback	A function which is called, after the confirmation answer is received.
state	An instance of any class, which is passed to the callback function as an argument.

Returns:

IAsyncResult Elib.Epuck.BeginGetInfoVersion	(	double	timeout,
		AsyncCallback	callback,
		Object	state
	)

It gets the BTCom version from e-Puck.

Parameters:

timeout	Timeout[sec] set how long are you willing to wait for the command confirmation answer. If the confirmation does not arrived until timeout exception is raised
callback	A function called after the confirmation answer is received.
state	An instance of any class, which is passed to the callback function as an argument.

Returns:

IAsyncResult Elib.Epuck.BeginGetIR	(	double	timeout,
		AsyncCallback	callback,
		object	state
	)

It gets the proximity from IR sensors. Obstacle can be recognized up to 4 cm.

Parameters:

timeout	Timeout[sec] set how long are you willing to wait for the command confirmation answer. If the confirmation does not arrived until timeout exception is raised
callback	A function which is called, after the confirmation answer is received.
state	An instance of any class, which is passed to the callback function as an argument.

Returns:

IAsyncResult Elib.Epuck.BeginGetIRData	(	double	timeout,
		AsyncCallback	callback,
		Object	state
	)

It gets the IR data in in array of 6 integers with following meaning IR check : 0xx, address : 0xx, data : 0xx.

Parameters:

timeout	Timeout[sec] set how long are you willing to wait for the command confirmation answer. If the confirmation does not arrived until timeout exception is raised
callback	A function which is called, after the confirmation answer is received.
state	An instance of any class, which is passed to the callback function as an argument.

Returns:

IAsyncResult Elib.Epuck.BeginGetLight	(	double	timeout,
		AsyncCallback	callback,
		object	state
	)

Returns a command to get the array of integers from IR sensors. The more ambient light, the lower the values. Usual values are above 3000. Maximal value is 5000.

Parameters:

timeout	Timeout[sec] set how long are you willing to wait for the command confirmation answer. If the confirmation does not arrived until timeout exception is raised
callback	A function which is called, after the confirmation answer is received.
state	An instance of any class, which is passed to the callback function as an argument.

Returns:

IAsyncResult Elib.Epuck.BeginGetMikes	(	double	timeout,
		AsyncCallback	callback,
		object	state
	)

It gets the current amplitude of sound from e-Puck's 3 speakers.

Parameters:

timeout	Timeout[sec] set how long are you willing to wait for the command confirmation answer. If the confirmation does not arrived until timeout exception is raised
callback	A function which is called, after the confirmation answer is received.
state	An instance of any class, which is passed to the callback function as an argument.

Returns:

IAsyncResult Elib.Epuck.BeginGetSelector	(	double	timeout,
		AsyncCallback	callback,
		object	state
	)

It returns a selector position.

Parameters:

timeout	Timeout[sec] set how long are you willing to wait for the command confirmation answer. If the confirmation does not arrived until timeout exception is raised
callback	A function which is called, after the confirmation answer is received.
state	An instance of any class, which is passed to the callback function as an argument.

Returns:

IAsyncResult Elib.Epuck.BeginGetSpeed	(	double	timeout,
		AsyncCallback	callback,
		object	state
	)

It gets the current speed of both wheels. Speed on a wheel is from -1 to 1. Value 1 corresponds to 1 revolution per second. Wheels have perimeter of 12,88 mm.

Parameters:

timeout	Timeout[sec] set how long are you willing to wait for the command confirmation answer. If the confirmation does not arrived until timeout exception is raised
callback	A function which is called, after the confirmation answer is received.
state	An instance of any class, which is passed to the callback function as an argument.

Returns:

IAsyncResult Elib.Epuck.BeginLightX	(	int	num,
		Turn	how,
		double	timeout,
		AsyncCallback	callback,
		Object	state
	)

Sets a LED with number n on,off or into inverse state. Acceptable values are 0..7(resp. 8). Value 8 represents all diodes at once.

Parameters:

num	Number of the LED which is changed.
how	Turn change state of the LED?
timeout	Timeout[sec] set how long are you willing to wait for the command confirmation answer. If the confirmation does not arrived until timeout exception is raised
callback	A function which is called, after the confirmation answer is received.
state	An instance of any class, which is passed to the callback function as an argument.

Returns:: Returns an instance of AsyncNoResult.

IAsyncResult Elib.Epuck.BeginMotors	(	double	leftMotor,
		double	rightMotor,
		double	timeout,
		AsyncCallback	callback,
		Object	state
	)

Sets Left and Right Motor speed. Acceptable values are from -1 to 1. Value 1 corresponds to 1 revolution per second. Wheels have perimeter of 12,88 mm.

Parameters:

leftMotor	Sets the left motor speed.
rightMotor	Sets the right motor speed.
timeout	Timeout[sec] set how long are you willing to wait for the command confirmation answer. If the confirmation does not arrived until timeout exception is raised
callback	A function which is called, after the confirmation answer is received.
state	An instance of any class, which is passed to the callback function as an argument.

Returns:

IAsyncResult Elib.Epuck.BeginPlaySound	(	int	SoundNum,
		double	timeout,
		AsyncCallback	callback,
		Object	state
	)

It begins to play sound. Values 0-5 are for different sounds. 6 turns speaker off.

Parameters:

SoundNum	The SoundNum can be between 0 and 6. 6 turns speakers off other numbers plays a sound.
timeout	Timeout[sec] set how long are you willing to wait for the command confirmation answer. If the confirmation does not arrived until timeout exception is raised
callback	A function called after the confirmation answer is received.
state	An instance of any class, which is passed to the callback function as an argument.

Returns:

IAsyncResult Elib.Epuck.BeginReset	(	double	timeout,
		AsyncCallback	callback,
		Object	state
	)

It restarts e-Puck.

Parameters:

timeout	Timeout[sec] set how long are you willing to wait for the command confirmation answer. If the confirmation does not arrived until timeout exception is raised
callback	A function which is called, after the confirmation answer is received.
state	An instance of any class, which is passed to the callback function as an argument.

Returns:

IAsyncResult Elib.Epuck.BeginSetCam	(	int	width,
		int	height,
		Zoom	zoom,
		CamMode	mode,
		double	timeout,
		AsyncCallback	callback,
		Object	state
	)

It sets the parameters of a camera. Maximum size of a picture can be 3200 bytes. The picture size S = width*height bytes; for black and white mode S = width*height*2 bytes; for colourful mode.

Parameters:

width	The width of the picture in pixels.
height	The height of the picture in pixels
zoom	The zoom of a cam. The lowest is the most useful.
mode	The mode. Can be black and white or colourful.
timeout	Timeout[sec] set how long are you willing to wait for the command confirmation answer. If the confirmation does not arrived until timeout exception is raised
callback	A function which is called, after the confirmation answer is received.
state	An instance of any class, which is passed to the callback function as an argument.

Returns:

IAsyncResult Elib.Epuck.BeginSetEncoders	(	int	leftTicks,
		int	rightTicks,
		double	timeout,
		AsyncCallback	callback,
		Object	state
	)

Sets Left and Right Motor Encoder value.

Parameters:

leftMotor	Sets the left motor value.
rightMotor	Sets the right motor value.
timeout	Timeout[sec] set how long are you willing to wait for the command confirmation answer. If the confirmation does not arrived until timeout exception is raised
callback	A function which is called, after the confirmation answer is received.
state	An instance of any class, which is passed to the callback function as an argument.

Returns:

IAsyncResult Elib.Epuck.BeginStop	(	double	timeout,
		AsyncCallback	callback,
		Object	state
	)

It stops e-Puck and turn off leds.

Parameters:

timeout	Timeout[sec] set how long are you willing to wait for the command confirmation answer. If the confirmation does not arrived until timeout exception is raised
callback	A function which is called, after the confirmation answer is received.
state	An instance of any class, which is passed to the callback function as an argument.

Returns:

void Elib.Epuck.BodyLight	(	Turn	how,
		OkfActuators	okf,
		KofCallback	kof,
		object	state,
		double	timeout
	)

Sets Body led on, off or into an inverse state.

Parameters:

how	Off/On/InverseState.
okf	A function called after the confirmation answer is received.
kof	A function called after the timeout is elapsed if the confirmation answer has not been received.
state	An instance of any class, which is passed to the callback function as an argument.
timeout	Timeout[seconds] set how long are you willing to wait for the command confirmation answer.

void Elib.Epuck.CalibrateIRSensors	(	OkfActuators	okf,
		KofCallback	kof,
		object	state,
		double	timeout
	)

Calibrates proximity IR sensors, which makes IR sensors more accurate for measuring proximity. Calibration adapts sensor for different reflection of IR light in the current environment.

Parameters:

okf	A function called after the confirmation answer is received.
kof	A function called after the timeout is elapsed if the confirmation answer has not been received.
state	An instance of any class, which is passed to the callback function as an argument.
timeout	Timeout[seconds] set how long are you willing to wait for the command confirmation answer.

remarks>E-Puck needs around 1s to calibrate its IR sensors.

virtual void Elib.Epuck.Dispose ( bool disposing ) [protected, virtual]

It releases unmanaged(Serial Port in Sercom and access to log file) and - optionally - managed resources.

Parameters:

disposing true to release both managed and unmanaged resources; false to release only unmanaged resources.

void Elib.Epuck.Dispose ( )

Performs application-defined tasks associated with freeing, releasing, or resetting unmanaged resources. It takes under 0.5 s.

void Elib.Epuck.EndFtion ( IAsyncResult ar )

It waits synchronously until the function, which created the instance ofAsyncNoResult ar finished.

Parameters:

ar The ar.

int [] Elib.Epuck.EndGetFtion ( IAsyncResult ar )

It waits synchronously until a function, which asked for sensors with values, gets the desired answer or timeout elapses. It uses ar in order to get the values.

Parameters:

ar	Instance of AsyncResult serves to connect the BeginGet... function with EndGetFtion(IAsyncResult) method

Returns:: Returns an array of int.

Bitmap Elib.Epuck.EndGetImage ( IAsyncResult ar )

It waits synchronously until a function, which asked for an image, gets the System.Drawing.Bitmap or timeout elapses. It uses ar in order to get the System.Drawing.Bitmap.

Parameters:

ar	Instance of AsyncResult serves to connect the BeginGet. function with EndGetFtion(IAsyncResult) method

Returns:: Returns array of int.

string Elib.Epuck.EndInfoFtion ( IAsyncResult ar )

It waits synchronously until a function, which asked for sensors with values, gets the desired answer or timeout elapses. It uses ar in order to get the values.

Parameters:

ar	Instance of AsyncResult serves to connect the BeginGetInfo... function with EndGetFtion(IAsyncResult) method

Returns:: Returns a string.

void Elib.Epuck.FrontLight	(	Turn	how,
		OkfActuators	okf,
		KofCallback	kof,
		object	state,
		double	timeout
	)

Sets Front led on, off or into an inverse state. It can produce enough light for capturing close obstacles with e-Puck's camera.

Parameters:

how	Off/On/InverseState.
okf	A function called after the confirmation answer is received.
kof	A function called after the timeout is elapsed if the confirmation answer has not been received.
state	An instance of any class, which is passed to the callback function as an argument.
timeout	Timeout[seconds] set how long are you willing to wait for the command confirmation answer.

void Elib.Epuck.GetAccelerometer	(	OkfIntsSensors	okf,
		KofCallback	kof,
		object	state,
		double	timeout
	)

It returns vector of values, which indicates the slant of e-Puck.

Parameters:

okf	A function called after the confirmation answer is received.
kof	A function called after the timeout is elapsed if the confirmation of command has not been received.
state	An instance of any class, which is passed to the callback function as an argument.
timeout	Timeout[sec] set how long are you willing to wait for the command confirmation answer.

void Elib.Epuck.GetCamParams	(	OkfIntsSensors	okf,
		KofCallback	kof,
		object	state,
		double	timeout
	)

It gets current camera settings. The picture size S = width*height, black or white mode and zoom.

Parameters:

okf	A function called after the confirmation answer is received.
kof	A function called after the timeout is elapsed if the confirmation of command has not been received.
state	An instance of any class, which is passed to the callback function as an argument.
timeout	Timeout[sec] set how long are you willing to wait for the command confirmation answer.

void Elib.Epuck.GetEncoders	(	OkfIntsSensors	okf,
		KofCallback	kof,
		object	state,
		double	timeout
	)

It gets a current state of encoders. It is measured in steps. One forward revolution corresponds to +1000 steps.It is nulled if the e-Puck resets.

Parameters:

okf	A function called after the confirmation answer is received.
kof	A function called after the timeout is elapsed if the confirmation of command has not been received.
state	An instance of any class, which is passed to the callback function as an argument.
timeout	Timeout[sec] set how long are you willing to wait for the command confirmation answer.

void Elib.Epuck.GetHelpInfo	(	OkfStringSensors	okf,
		KofCallback	kof,
		object	state,
		double	timeout
	)

It shows Epuck's help sent from e-Puck.

Parameters:

okf	The okf.
kof	The kof.
state	The state.
timeout	The timeout.

void Elib.Epuck.GetImage	(	OkfKofCamSensor	okf,
		OkfKofCamSensor	kof,
		object	state,
		double	timeout
	)

It gets a picture. It can take a long time. E.g. picture 40*40 in colour takes more than 0.4 sec under good light conditions and with battery fully charged.

single functions //////////////////////////

Parameters:

okf	A function called after the confirmation answer is received.
kof	A function called after the timeout is elapsed if the confirmation of command has not been received.
state	An instance of any class, which is passed to the callback function as an argument.
timeout	Timeout[sec] set how long are you willing to wait for the command confirmation answer.

remarks>In contrary to other methods the kof callback can be called later than timeout elapses. paramref name="kof"/> is delayed when data are still sending and the timeout has already elapsed.

void Elib.Epuck.GetIR	(	OkfIntsSensors	okf,
		KofCallback	kof,
		object	state,
		double	timeout
	)

It gets the proximity from IR sensors. Obstacle can be recognized up to 4 cm.

Parameters:

okf	A function called after the confirmation answer is received.
kof	A function called after the timeout is elapsed if the confirmation of command has not been received.
state	An instance of any class, which is passed to the callback function as an argument.
timeout	Timeout[sec] set how long are you willing to wait for the command confirmation answer.

void Elib.Epuck.GetIRData	(	OkfIntsSensors	okf,
		KofCallback	kof,
		object	state,
		double	timeout
	)

It gets the IR data in in array of 3 integers converted from hex number with following meaning. IR check : 0xx, address : 0xx, data : 0xx.

Parameters:

okf	A function called after the confirmation answer is received.
kof	A function called after the timeout is elapsed if the confirmation of command has not been received.
state	An instance of any class, which is passed to the callback function as an argument.
timeout	Timeout[sec] set how long are you willing to wait for the command confirmation answer.

void Elib.Epuck.GetLight	(	OkfIntsSensors	okf,
		KofCallback	kof,
		object	state,
		double	timeout
	)

Returns a command to get the array of integers from IR sensors. The more ambient light, the lower the values. Usual values are above 3000. Maximal value is 5000.

Parameters:

okf	A function called after the confirmation answer is received.
kof	A function called after the timeout is elapsed if the confirmation of command has not been received.
state	An instance of any class, which is passed to the callback function as an argument.
timeout	Timeout[sec] set how long are you willing to wait for the command confirmation answer.

void Elib.Epuck.GetMikes	(	OkfIntsSensors	okf,
		KofCallback	kof,
		object	state,
		double	timeout
	)

It gets the current amplitude of sound from e-Puck's 3 speakers.

Parameters:

okf	A function called after the confirmation answer is received.
kof	A function called after the timeout is elapsed if the confirmation of command has not been received.
state	An instance of any class, which is passed to the callback function as an argument.
timeout	Timeout[sec] set how long are you willing to wait for the command confirmation answer.

void Elib.Epuck.GetSelector	(	OkfIntsSensors	okf,
		KofCallback	kof,
		object	state,
		double	timeout
	)

It returns a selector position.

Parameters:

okf	A function called after the confirmation answer is received.
kof	A function called after the timeout is elapsed if the confirmation of command has not been received.
state	An instance of any class, which is passed to the callback function as an argument.
timeout	Timeout[sec] set how long are you willing to wait for the command confirmation answer.

void Elib.Epuck.GetSpeed	(	OkfIntsSensors	okf,
		KofCallback	kof,
		object	state,
		double	timeout
	)

It gets the current speed of both wheels. Speed on a wheel is from -1 to 1. Value 1 corresponds to 1 revolution per second. Wheels have perimeter of 12,88 mm.

Parameters:

okf	A function called after the confirmation answer is received.
kof	A function called after the timeout is elapsed if the confirmation of command has not been received.
state	An instance of any class, which is passed to the callback function as an argument.
timeout	Timeout[ sec ] set how long are you willing to wait for the command confirmation answer.

void Elib.Epuck.GetVersionInfo	(	OkfStringSensors	okf,
		KofCallback	kof,
		object	state,
		double	timeout
	)

It gets the BTCom version.

Parameters:

okf	A function called after the confirmation answer is received.
kof	A function called after the timeout is elapsed if the confirmation of command has not been received.
state	An instance of any class, which is passed to the callback function as an argument.
timeout	Timeout[sec] set how long are you willing to wait for the command confirmation answer.

void Elib.Epuck.LightX	(	int	num,
		Turn	how,
		OkfActuators	okf,
		KofCallback	kof,
		object	state,
		double	timeout
	)

Sets a LED with number n on,off or into inverse state. Acceptable values are 0..7(resp. 8). Value 8 represents all diodes at once.

Parameters:

num	The nummber of the LED.
how	Off/On/InverseState.
okf	A function called after the confirmation answer is received.
kof	A function called after the timeout is elapsed if the confirmation answer has not been received.
state	An instance of any class, which is passed to the callback function as an argument.
timeout	Timeout[seconds] set how long are you willing to wait for the command confirmation answer.

void Elib.Epuck.Motors	(	double	leftMotor,
		double	rightMotor,
		OkfActuators	okf,
		KofCallback	kof,
		object	state,
		double	timeout
	)

Sets Left and Right Motor speed. Acceptable values are from -1 to 1. Value 1 corresponds to 1 revolution per second. Wheels have perimeter of 12,88 mm.

Parameters:

leftMotor	The left motor.
rightMotor	The right motor.
okf	A function called after the confirmation answer is received.
kof	A function called after the timeout is elapsed if the confirmation answer has not been received.
state	An instance of any class, which is passed to the callback function as an argument.
timeout	Timeout[seconds] set how long are you willing to wait for the command confirmation answer.

delegate void Elib.Epuck.OkfActuators ( object data )

A format of functions, which are called if the command for an actuator is successfully confirmed in timeout.

delegate void Elib.Epuck.OkfIntsSensors	(	int[]	ans,
		object	data
	)

A format of functions, which are called when a command requiring an array of int is confirmed in timeout.

delegate void Elib.Epuck.OkfKofCamSensor	(	Bitmap	ans,
		object	data
	)

A format of functions, which are called when a command requiring a Bitmap is confirmed in timeout.

delegate void Elib.Epuck.OkfStringSensors	(	string	ans,
		object	data
	)

A format of functions, which are called when a command requiring a string is confirmed in timeout.

void Elib.Epuck.PlaySound	(	int	SoundNum,
		OkfActuators	okf,
		KofCallback	kof,
		object	state,
		double	timeout
	)

It begins to play sound. Values 0-5 are for different sounds. 6 turns speaker off.

Parameters:

SoundNum	The SoundNum can be between 0 and 6. 6 turns speakers off. Other numbers play a sound.
okf	A function called after receiving the confirmation answer.
kof	A function called after the timeout is elapsed if the confirmation answer has not been received.
state	An instance of any class, which is passed to the callback function as an argument.
timeout	Timeout[seconds] set how long are you willing to wait for the command confirmation answer.

void Elib.Epuck.Reset	(	OkfActuators	okf,
		KofCallback	kof,
		object	state,
		double	timeout
	)

It restars e-Puck.

Parameters:

okf	A function called after the confirmation answer is received.
kof	A function called after the timeout is elapsed if the confirmation answer has not been received.
state	An instance of any class, which is passed to the callback function as an argument.
timeout	Timeout[seconds] set how long are you willing to wait for the command confirmation answer.

remarks>E-Puck needs around 1.5s to restart.

void Elib.Epuck.SetCam	(	int	width,
		int	height,
		Zoom	zoom,
		CamMode	mode,
		OkfActuators	okf,
		KofCallback	kof,
		object	state,
		double	timeout
	)

It sets the parameters of a camera. Maximum size of a picture can be 3200 bytes. The picture size S = width*height bytes; for black and white mode S = width*height*2 bytes; for colourful mode.

Parameters:

width	The width of picture in pixels.
height	The height of picture in pixels
zoom	The zoom of a cam. The lowest is the most useful.
mode	The mode. Can be black and white or colourful.
okf	A function called after the confirmation answer is received.
kof	A function called after the timeout is elapsed if the confirmation answer has not been received.
state	An instance of any class, which is passed to the callback function as an argument.
timeout	Timeout[seconds] set how long are you willing to wait for the command confirmation answer.

void Elib.Epuck.SetEncoders	(	int	leftMotor,
		int	rightMotor,
		OkfActuators	okf,
		KofCallback	kof,
		object	state,
		double	timeout
	)

Sets encoders values. One revolution corresponds to 1000 steps.

single functions ///////////////////////////////////

Parameters:

leftMotor
rightMotor
okf	A function called after the confirmation answer is received.
kof	A function called after the timeout is elapsed if the confirmation answer has not been received.
state	An instance of any class, which is passed to the callback function as an argument.
timeout	Timeout[seconds] set how long are you willing to wait for the command confirmation answer.

void Elib.Epuck.StartLogging ( )

Exceptions:

T:ElibException is thrown when LogStream is null.

void Elib.Epuck.Stop	(	OkfActuators	okf,
		KofCallback	kof,
		object	state,
		double	timeout
	)

It stops e-Puck and turn off leds.

Parameters:

okf	A function called after the confirmation answer is received.
kof	A function called after the timeout is elapsed if the confirmation answer has not been received.
state	An instance of any class, which is passed to the callback function as an argument.
timeout	Timeout[seconds] set how long are you willing to wait for the command confirmation answer.

void Elib.Epuck.StopLogging ( )

Disables logging.

override string Elib.Epuck.ToString ( )

Returns a System.String that represents this instance. A user defined robot name and Sercom parameters are returned.

Returns:: A System.String that represents this instance.

void Elib.Epuck.WriteToLogStream ( string comment )

WriteToLogStream adds to LogStream a comment. (Before passed strings puts '#'.)

Parameters:

comment

Member Data Documentation

readonly int [] Elib.Epuck.IRSensorsDegrees = new int[8] { 10, 30, 90, 170, 190, 270, 330, 350 } [static]

Eight Infra Red sensors are placed on the perimeter of e-Puck, which can be obtained on the instance e of e-Puck by e.BeginGetIRSensors(..) method or by e.GetIRSensors(..) method. IrSensorsDegrees describes the degrees measured from front(There is a cam.) As you can see most of the sensors are on the front side of e-Puck.

const double Elib.Epuck.MaxSpeed = 12.88

12.88 cm/s is a maximum speed of e-Puck. In Elib 13cm/sec corresponds to 1.00. From -1.00 to 1.00 is the speed linearly growing.

const double Elib.Epuck.Perch = 5.3

Distance between wheels of an e-Puck in cm.

const double Elib.Epuck.WheelDiameter = 4.1

units: [cm]

Property Documentation

string Elib.Epuck.BTComHelp [static, get]

It gets the BTCom help.

The BTCom help from static property.

bool Elib.Epuck.Log [get, protected]

Return a bool flag, which indicates whether logging is on.

TextWriter Elib.Epuck.LogStream [get, set]

Enables sets or get TextWriter of e-Puck, where all actions of e-Puck are logged if logging is turned on.

string Elib.Epuck.Name [get]

Gets the name specified in a constructor.

The name.

int Elib.Epuck.NotSent [get]

Gets the number of waiting commands in the notSent queue = commands waiting to be sent via Serial Port(Bluetooth).

The waiting commands.

string Elib.Epuck.Port [get]

Gets the port specified in the constructor.

The port.

int Elib.Epuck.Working [get]

Gets the number of unconfirmed commands in the Epuck instance.

The working.

The documentation for this class was generated from the following files:

epuckActuators.cs
epuckIni.cs
epuckProperties.cs
epuckAsyncBeginXXX.cs
epuckSensors.cs

Elib.Epuck Class Reference

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Properties

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

Property Documentation