Controlling the robot via Serial port :

We have implemented a code that use the Dot Net frame work and can send codes to the serial port , We have tested it with another Pc and both have received and sent . Also a gui is done for controlling the robot to give signals to the motors , the next stage is receiving that on micro controller and decoding it . Also the camera signal will be read on the control software to help the worker to move the robot .

The Gui:

The Code : using System; using System.Collections.Generic;

using System.ComponentModel; using System.Data; using System.Drawing; using System.Text; using System.Windows.Forms; using PCComm; namespace PCComm { public partial class frmMain : Form { CommunicationManager comm = new CommunicationManager(); string transType = string.Empty; public frmMain() { InitializeComponent(); } private void frmMain_Load(object sender, EventArgs e) { LoadValues(); SetDefaults(); SetControlState(); } private void cmdOpen_Click(object sender, EventArgs e) { comm.Parity = cboParity.Text; comm.StopBits = cboStop.Text; comm.DataBits = cboData.Text; comm.BaudRate = cboBaud.Text; comm.DisplayWindow = rtbDisplay; comm.OpenPort(); cmdOpen.Enabled = false; } /// <summary> /// Method to initialize serial port /// values to standard defaults /// </summary> private void SetDefaults() { cboPort.SelectedIndex = 0; cboBaud.SelectedText = "9600"; cboParity.SelectedIndex = 0; cboStop.SelectedIndex = 1; cboData.SelectedIndex = 1; } /// <summary> /// methos to load our serial /// port option values /// </summary> private void LoadValues() { comm.SetPortNameValues(cboPort); comm.SetParityValues(cboParity); comm.SetStopBitValues(cboStop); } /// <summary> /// method to set the state of controls /// when the form first loads /// </summary> private void SetControlState() { rdoText.Checked = true; }

private void cmdSend_Click(object sender, EventArgs e) { //comm.WriteData(txtSend.Text); } private void rdoHex_CheckedChanged(object sender, EventArgs e) { if (rdoHex.Checked == true) { comm.CurrentTransmissionType = PCComm.CommunicationManager.TransmissionType.Hex; } else { comm.CurrentTransmissionType = PCComm.CommunicationManager.TransmissionType.Text; } } private void cboPort_SelectedIndexChanged(object sender, EventArgs e) { } private void cmdClose_Click(object sender, EventArgs e) { } private void button1_Click(object sender, EventArgs e) { //copy code of open port comm.Parity = cboParity.Text; comm.StopBits = cboStop.Text; comm.DataBits = cboData.Text; comm.BaudRate = cboBaud.Text; comm.DisplayWindow = rtbDisplay; comm.OpenPort(); cmdOpen.Enabled = false; /////////////////////// comm.WriteData("up"); } private void groupBox3_Enter(object sender, EventArgs e) { } private void GroupBox1_Enter(object sender, EventArgs e) { } private void button2_Click(object sender, EventArgs e) { //copy code of open port comm.Parity = cboParity.Text; comm.StopBits = cboStop.Text; comm.DataBits = cboData.Text; comm.BaudRate = cboBaud.Text; comm.DisplayWindow = rtbDisplay; comm.OpenPort(); cmdOpen.Enabled = false; /////////////////////// comm.WriteData("down"); } private void button4_Click(object sender, EventArgs e) {

//copy code of open port comm.Parity = cboParity.Text; comm.StopBits = cboStop.Text; comm.DataBits = cboData.Text; comm.BaudRate = cboBaud.Text; comm.DisplayWindow = rtbDisplay; comm.OpenPort(); cmdOpen.Enabled = false; /////////////////////// comm.WriteData("left"); } private void button3_Click(object sender, EventArgs e) { //copy code of open port comm.Parity = cboParity.Text; comm.StopBits = cboStop.Text; comm.DataBits = cboData.Text; comm.BaudRate = cboBaud.Text; comm.DisplayWindow = rtbDisplay; comm.OpenPort(); cmdOpen.Enabled = false; /////////////////////// comm.WriteData("right"); } private void button10_Click(object sender, EventArgs e) { //copy code of open port comm.Parity = cboParity.Text; comm.StopBits = cboStop.Text; comm.DataBits = cboData.Text; comm.BaudRate = cboBaud.Text; comm.DisplayWindow = rtbDisplay; comm.OpenPort(); cmdOpen.Enabled = false; /////////////////////// comm.WriteData("a"); } private void button9_Click(object sender, EventArgs e) { //copy code of open port comm.Parity = cboParity.Text; comm.StopBits = cboStop.Text; comm.DataBits = cboData.Text; comm.BaudRate = cboBaud.Text; comm.DisplayWindow = rtbDisplay; comm.OpenPort(); cmdOpen.Enabled = false; /////////////////////// comm.WriteData("b"); } private void button16_Click(object sender, EventArgs e) { //copy code of open port comm.Parity = cboParity.Text; comm.StopBits = cboStop.Text; comm.DataBits = cboData.Text; comm.BaudRate = cboBaud.Text; comm.DisplayWindow = rtbDisplay; comm.OpenPort(); cmdOpen.Enabled = false; ///////////////////////

comm.WriteData("c"); } private void button15_Click(object sender, EventArgs e) { //copy code of open port comm.Parity = cboParity.Text; comm.StopBits = cboStop.Text; comm.DataBits = cboData.Text; comm.BaudRate = cboBaud.Text; comm.DisplayWindow = rtbDisplay; comm.OpenPort(); cmdOpen.Enabled = false; /////////////////////// comm.WriteData("d"); } private void button8_Click(object sender, EventArgs e) { //copy code of open port comm.Parity = cboParity.Text; comm.StopBits = cboStop.Text; comm.DataBits = cboData.Text; comm.BaudRate = cboBaud.Text; comm.DisplayWindow = rtbDisplay; comm.OpenPort(); cmdOpen.Enabled = false; /////////////////////// comm.WriteData("e"); } private void button7_Click(object sender, EventArgs e) { //copy code of open port comm.Parity = cboParity.Text; comm.StopBits = cboStop.Text; comm.DataBits = cboData.Text; comm.BaudRate = cboBaud.Text; comm.DisplayWindow = rtbDisplay; comm.OpenPort(); cmdOpen.Enabled = false; /////////////////////// comm.WriteData("f"); } private void button14_Click(object sender, EventArgs e) { //copy code of open port comm.Parity = cboParity.Text; comm.StopBits = cboStop.Text; comm.DataBits = cboData.Text; comm.BaudRate = cboBaud.Text; comm.DisplayWindow = rtbDisplay; comm.OpenPort(); cmdOpen.Enabled = false; /////////////////////// comm.WriteData("g"); } private void button13_Click(object sender, EventArgs e) { //copy code of open port comm.Parity = cboParity.Text; comm.StopBits = cboStop.Text; comm.DataBits = cboData.Text; comm.BaudRate = cboBaud.Text;

comm.DisplayWindow = rtbDisplay; comm.OpenPort(); cmdOpen.Enabled = false; /////////////////////// comm.WriteData("h"); } private void button6_Click(object sender, EventArgs e) { //copy code of open port comm.Parity = cboParity.Text; comm.StopBits = cboStop.Text; comm.DataBits = cboData.Text; comm.BaudRate = cboBaud.Text; comm.DisplayWindow = rtbDisplay; comm.OpenPort(); cmdOpen.Enabled = false; /////////////////////// comm.WriteData("i"); } private void button5_Click(object sender, EventArgs e) { //copy code of open port comm.Parity = cboParity.Text; comm.StopBits = cboStop.Text; comm.DataBits = cboData.Text; comm.BaudRate = cboBaud.Text; comm.DisplayWindow = rtbDisplay; comm.OpenPort(); cmdOpen.Enabled = false; /////////////////////// comm.WriteData("j"); } private void button12_Click(object sender, EventArgs e) { //copy code of open port comm.Parity = cboParity.Text; comm.StopBits = cboStop.Text; comm.DataBits = cboData.Text; comm.BaudRate = cboBaud.Text; comm.DisplayWindow = rtbDisplay; comm.OpenPort(); cmdOpen.Enabled = false; /////////////////////// comm.WriteData("k"); } private void button11_Click(object sender, EventArgs e) { //copy code of open port comm.Parity = cboParity.Text; comm.StopBits = cboStop.Text; comm.DataBits = cboData.Text; comm.BaudRate = cboBaud.Text; comm.DisplayWindow = rtbDisplay; comm.OpenPort(); cmdOpen.Enabled = false; /////////////////////// comm.WriteData("l"); } private void rtbDisplay_TextChanged(object sender, EventArgs e) {

} } }