Remote control application

Assumes a NXT robot configuration alike the TriBot.

Usage

• Enter the COM port number and press the connect-button.
• Move the mouse in the outlined panel to control the NXT robot:
  • Move up to drive forward (top = 100% prower)
  • Move down to drive backward (bottom = 100% power)
  • Move the mouse left or right to steer in the desired direction.

Code

• Create a WindowsApplication.
• Create a reference to the NKH.MindSqualls.dll and add a using directive to the code.
• Add a panel, rename it to remotecontrolPanel and set the BorderStyle to FixedSingle.
• Add a label, set the Text property to "COM".
• Add a textbox, rename it to txtComPort and set the Text property to your NXT port e.g. 40.
• Add a button, rename it to btnConnect and change the Text property to "Connect".
• Add a second button, rename it to btnDisconnect and change the Text property to "Disconnect".
• Add a third button, rename it to btnIdle and change the Text property to "Idle".
• Double click on the three buttons to create Click eventhandlers.
• Click on the panel and add a MouseMove eventhandler.

Then add the following code:

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Text;
using System.Windows.Forms;

using NKH.MindSqualls;

namespace NxtRemote1
{
    public partial class Form1: Form
    {
        private NxtBrick brick;
        private NxtMotorSync motorPair;

        public Form1()
        {
            InitializeComponent();

            this.Text = "Disconnected";
        }

        private void btnConnect_Click(object sender, EventArgs e)
        {
            try
            {
                byte comPort = byte.Parse(this.txtComPort.Text);
                brick = new NxtBrick(comPort);

                brick.MotorB = new NxtMotor();
                brick.MotorC = new NxtMotor();
                motorPair = new NxtMotorSync(brick.MotorB, brick.MotorC);

                brick.Connect();

                this.Text = "Connected: " + brick.Name;
            }
            catch
            {
                Disconnect();
            }
        }

        private void btnDisconnect_Click(object sender, EventArgs e)
        {
            Disconnect();
        }

        const double dblMaxTurnRatio = 10;
        private void panel1_MouseMove(object sender, MouseEventArgs e)
        {
            if (brick != null && brick.IsConnected)
            {
                double dblPower = (-200D / this.remotecontrolPanel.Height) * e.Y + 100;
                sbyte power = (sbyte) dblPower;

                double dblTurnRatio = (2 * dblMaxTurnRatio / this.remotecontrolPanel.Width) * e.X - dblMaxTurnRatio;
                if (dblTurnRatio < -dblMaxTurnRatio) dblTurnRatio = -dblMaxTurnRatio;
                if (dblTurnRatio > dblMaxTurnRatio) dblTurnRatio = dblMaxTurnRatio;

                if (power < 0) dblTurnRatio = -dblTurnRatio;

                sbyte turnRatio = (sbyte) dblTurnRatio;

                motorPair.Run(power, 0, turnRatio);
            }
        }

        private void btnIdle_Click(object sender, EventArgs e)
        {
            Idle();
        }

        private void Idle()
        {
            if (brick != null && brick.IsConnected)
                motorPair.Idle();
        }

        private void Disconnect()
        {
            Idle();

            if (brick != null && brick.IsConnected)
                brick.Disconnect();

            brick = null;
            motorPair = null;

            this.Text = "Disconnected";
        }
    }
}

Download

NxtRemote1.zip

http://www.mindsqualls.net