├── .gitignore ├── Anki.Vector.Samples.sln ├── Anki.Vector.Samples.sln.licenseheader ├── LICENSE ├── README.md ├── ReserveControl ├── Program.cs └── ReserveControl.csproj ├── Tutorial_01_HelloWorld ├── Program.cs └── Tutorial_01_HelloWorld.csproj ├── Tutorial_02_DriveSquare ├── Program.cs └── Tutorial_02_DriveSquare.csproj ├── Tutorial_03_Motors ├── Program.cs └── Tutorial_03_Motors.csproj ├── Tutorial_04_Animation ├── Program.cs └── Tutorial_04_Animation.csproj ├── Tutorial_05_DriveOnOffCharger ├── Program.cs └── Tutorial_05_DriveOnOffCharger.csproj ├── Tutorial_06_FaceImage ├── Program.cs ├── Tutorial_06_FaceImage.csproj └── cozmo_image.jpg ├── Tutorial_07_DockWithCube ├── Program.cs └── Tutorial_07_DockWithCube.csproj ├── Tutorial_08_DownloadPhoto ├── Program.cs └── Tutorial_08_DownloadPhoto.csproj ├── Tutorial_09_EyeColor ├── Program.cs └── Tutorial_09_EyeColor.csproj ├── Tutorial_10_PlayAudio ├── Program.cs ├── Tutorial_10_PlayAudio.csproj ├── bensound-summer.mp3 ├── vector_alert.wav └── vector_bell_whistle.wav ├── Tutorial_11_DriveToCliffAndBackUp ├── Program.cs └── Tutorial_11_DriveToCliffAndBackUp.csproj ├── Tutorial_12_ControlPriorityLevel ├── Program.cs └── Tutorial_12_ControlPriorityLevel.csproj ├── Tutorial_13_UserIntent ├── Program.cs └── Tutorial_13_UserIntent.csproj ├── Tutorial_14_FaceEvent ├── Program.cs └── Tutorial_14_FaceEvent.csproj ├── Tutorial_15_FaceFollower ├── Program.cs └── Tutorial_15_FaceFollower.csproj ├── Tutorial_16_FeatureStatus ├── Program.cs └── Tutorial_16_FeatureStatus.csproj ├── Tutorial_17_AppIntent ├── Program.cs └── Tutorial_17_AppIntent.csproj ├── Tutorial_18_XboxDrive ├── Program.cs ├── Tutorial_18_XboxDrive.csproj └── XBoxController.cs └── VectorConfigure ├── AddCommand.cs ├── DeleteCommand.cs ├── ListCommand.cs ├── Program.cs ├── Settings.StyleCop └── VectorConfigure.csproj /.gitignore: -------------------------------------------------------------------------------- 1 | ## Ignore Visual Studio temporary files, build results, and 2 | ## files generated by popular Visual Studio add-ons. 3 | ## 4 | ## Get latest from https://github.com/github/gitignore/blob/master/VisualStudio.gitignore 5 | 6 | # User-specific files 7 | *.suo 8 | *.user 9 | *.userosscache 10 | *.sln.docstates 11 | 12 | # User-specific files (MonoDevelop/Xamarin Studio) 13 | *.userprefs 14 | 15 | # Build results 16 | [Dd]ebug/ 17 | [Dd]ebugPublic/ 18 | [Rr]elease/ 19 | [Rr]eleases/ 20 | x64/ 21 | x86/ 22 | bld/ 23 | [Bb]in/ 24 | [Oo]bj/ 25 | [Ll]og/ 26 | 27 | # Visual Studio 2015/2017 cache/options directory 28 | .vs/ 29 | # Uncomment if you have tasks that create the project's static files in wwwroot 30 | #wwwroot/ 31 | 32 | # Visual Studio 2017 auto generated files 33 | Generated\ Files/ 34 | 35 | # MSTest test Results 36 | [Tt]est[Rr]esult*/ 37 | [Bb]uild[Ll]og.* 38 | 39 | # NUNIT 40 | *.VisualState.xml 41 | TestResult.xml 42 | 43 | # Build Results of an ATL Project 44 | [Dd]ebugPS/ 45 | [Rr]eleasePS/ 46 | dlldata.c 47 | 48 | # Benchmark Results 49 | BenchmarkDotNet.Artifacts/ 50 | 51 | # .NET Core 52 | project.lock.json 53 | project.fragment.lock.json 54 | artifacts/ 55 | **/Properties/launchSettings.json 56 | 57 | # StyleCop 58 | StyleCopReport.xml 59 | 60 | # Files built by Visual Studio 61 | *_i.c 62 | *_p.c 63 | *_i.h 64 | *.ilk 65 | *.meta 66 | *.obj 67 | *.iobj 68 | *.pch 69 | *.pdb 70 | *.ipdb 71 | *.pgc 72 | *.pgd 73 | *.rsp 74 | *.sbr 75 | *.tlb 76 | *.tli 77 | *.tlh 78 | *.tmp 79 | *.tmp_proj 80 | *.log 81 | *.vspscc 82 | *.vssscc 83 | .builds 84 | *.pidb 85 | *.svclog 86 | *.scc 87 | 88 | # Chutzpah Test files 89 | _Chutzpah* 90 | 91 | # Visual C++ cache files 92 | ipch/ 93 | *.aps 94 | *.ncb 95 | *.opendb 96 | *.opensdf 97 | *.sdf 98 | *.cachefile 99 | *.VC.db 100 | *.VC.VC.opendb 101 | 102 | # Visual Studio profiler 103 | *.psess 104 | *.vsp 105 | *.vspx 106 | *.sap 107 | 108 | # Visual Studio Trace Files 109 | *.e2e 110 | 111 | # TFS 2012 Local Workspace 112 | $tf/ 113 | 114 | # Guidance Automation Toolkit 115 | *.gpState 116 | 117 | # ReSharper is a .NET coding add-in 118 | _ReSharper*/ 119 | *.[Rr]e[Ss]harper 120 | *.DotSettings.user 121 | 122 | # JustCode is a .NET coding add-in 123 | .JustCode 124 | 125 | # TeamCity is a build add-in 126 | _TeamCity* 127 | 128 | # DotCover is a Code Coverage Tool 129 | *.dotCover 130 | 131 | # AxoCover is a Code Coverage Tool 132 | .axoCover/* 133 | !.axoCover/settings.json 134 | 135 | # Visual Studio code coverage results 136 | *.coverage 137 | *.coveragexml 138 | 139 | # NCrunch 140 | _NCrunch_* 141 | .*crunch*.local.xml 142 | nCrunchTemp_* 143 | 144 | # MightyMoose 145 | *.mm.* 146 | AutoTest.Net/ 147 | 148 | # Web workbench (sass) 149 | .sass-cache/ 150 | 151 | # Installshield output folder 152 | [Ee]xpress/ 153 | 154 | # DocProject is a documentation generator add-in 155 | DocProject/buildhelp/ 156 | DocProject/Help/*.HxT 157 | DocProject/Help/*.HxC 158 | DocProject/Help/*.hhc 159 | DocProject/Help/*.hhk 160 | DocProject/Help/*.hhp 161 | DocProject/Help/Html2 162 | DocProject/Help/html 163 | 164 | # Click-Once directory 165 | publish/ 166 | 167 | # Publish Web Output 168 | *.[Pp]ublish.xml 169 | *.azurePubxml 170 | # Note: Comment the next line if you want to checkin your web deploy settings, 171 | # but database connection strings (with potential passwords) will be unencrypted 172 | *.pubxml 173 | *.publishproj 174 | 175 | # Microsoft Azure Web App publish settings. Comment the next line if you want to 176 | # checkin your Azure Web App publish settings, but sensitive information contained 177 | # in these scripts will be unencrypted 178 | PublishScripts/ 179 | 180 | # NuGet Packages 181 | *.nupkg 182 | # The packages folder can be ignored because of Package Restore 183 | **/[Pp]ackages/* 184 | # except build/, which is used as an MSBuild target. 185 | !**/[Pp]ackages/build/ 186 | # Uncomment if necessary however generally it will be regenerated when needed 187 | #!**/[Pp]ackages/repositories.config 188 | # NuGet v3's project.json files produces more ignorable files 189 | *.nuget.props 190 | *.nuget.targets 191 | 192 | # Microsoft Azure Build Output 193 | csx/ 194 | *.build.csdef 195 | 196 | # Microsoft Azure Emulator 197 | ecf/ 198 | rcf/ 199 | 200 | # Windows Store app package directories and files 201 | AppPackages/ 202 | BundleArtifacts/ 203 | Package.StoreAssociation.xml 204 | _pkginfo.txt 205 | *.appx 206 | 207 | # Visual Studio cache files 208 | # files ending in .cache can be ignored 209 | *.[Cc]ache 210 | # but keep track of directories ending in .cache 211 | !*.[Cc]ache/ 212 | 213 | # Others 214 | ClientBin/ 215 | ~$* 216 | *~ 217 | *.dbmdl 218 | *.dbproj.schemaview 219 | *.jfm 220 | *.pfx 221 | *.publishsettings 222 | orleans.codegen.cs 223 | 224 | # Including strong name files can present a security risk 225 | # (https://github.com/github/gitignore/pull/2483#issue-259490424) 226 | #*.snk 227 | 228 | # Since there are multiple workflows, uncomment next line to ignore bower_components 229 | # (https://github.com/github/gitignore/pull/1529#issuecomment-104372622) 230 | #bower_components/ 231 | 232 | # RIA/Silverlight projects 233 | Generated_Code/ 234 | 235 | # Backup & report files from converting an old project file 236 | # to a newer Visual Studio version. Backup files are not needed, 237 | # because we have git ;-) 238 | _UpgradeReport_Files/ 239 | Backup*/ 240 | UpgradeLog*.XML 241 | UpgradeLog*.htm 242 | ServiceFabricBackup/ 243 | *.rptproj.bak 244 | 245 | # SQL Server files 246 | *.mdf 247 | *.ldf 248 | *.ndf 249 | 250 | # Business Intelligence projects 251 | *.rdl.data 252 | *.bim.layout 253 | *.bim_*.settings 254 | *.rptproj.rsuser 255 | 256 | # Microsoft Fakes 257 | FakesAssemblies/ 258 | 259 | # GhostDoc plugin setting file 260 | *.GhostDoc.xml 261 | 262 | # Node.js Tools for Visual Studio 263 | .ntvs_analysis.dat 264 | node_modules/ 265 | 266 | # Visual Studio 6 build log 267 | *.plg 268 | 269 | # Visual Studio 6 workspace options file 270 | *.opt 271 | 272 | # Visual Studio 6 auto-generated workspace file (contains which files were open etc.) 273 | *.vbw 274 | 275 | # Visual Studio LightSwitch build output 276 | **/*.HTMLClient/GeneratedArtifacts 277 | **/*.DesktopClient/GeneratedArtifacts 278 | **/*.DesktopClient/ModelManifest.xml 279 | **/*.Server/GeneratedArtifacts 280 | **/*.Server/ModelManifest.xml 281 | _Pvt_Extensions 282 | 283 | # Paket dependency manager 284 | .paket/paket.exe 285 | paket-files/ 286 | 287 | # FAKE - F# Make 288 | .fake/ 289 | 290 | # JetBrains Rider 291 | .idea/ 292 | *.sln.iml 293 | 294 | # CodeRush 295 | .cr/ 296 | 297 | # Python Tools for Visual Studio (PTVS) 298 | __pycache__/ 299 | *.pyc 300 | 301 | # Cake - Uncomment if you are using it 302 | # tools/** 303 | # !tools/packages.config 304 | 305 | # Tabs Studio 306 | *.tss 307 | 308 | # Telerik's JustMock configuration file 309 | *.jmconfig 310 | 311 | # BizTalk build output 312 | *.btp.cs 313 | *.btm.cs 314 | *.odx.cs 315 | *.xsd.cs 316 | 317 | # OpenCover UI analysis results 318 | OpenCover/ 319 | 320 | # Azure Stream Analytics local run output 321 | ASALocalRun/ 322 | 323 | # MSBuild Binary and Structured Log 324 | *.binlog 325 | 326 | # NVidia Nsight GPU debugger configuration file 327 | *.nvuser 328 | 329 | # MFractors (Xamarin productivity tool) working folder 330 | .mfractor/ 331 | /.svn 332 | /Anki.Vector.Samples.Dev.sln 333 | -------------------------------------------------------------------------------- /Anki.Vector.Samples.sln: -------------------------------------------------------------------------------- 1 |  2 | Microsoft Visual Studio Solution File, Format Version 12.00 3 | # Visual Studio Version 16 4 | VisualStudioVersion = 16.0.29102.190 5 | MinimumVisualStudioVersion = 10.0.40219.1 6 | Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Tutorial_02_DriveSquare", "Tutorial_02_DriveSquare\Tutorial_02_DriveSquare.csproj", "{440B50B4-DD81-447E-A852-065E5C5D6D0A}" 7 | EndProject 8 | Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Tutorial_03_Motors", "Tutorial_03_Motors\Tutorial_03_Motors.csproj", "{6F8AE87F-53F5-48BD-85D0-B56B56096BDB}" 9 | EndProject 10 | Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Tutorial_04_Animation", "Tutorial_04_Animation\Tutorial_04_Animation.csproj", "{919D801E-E63F-47FB-ACC1-3F5343C6492C}" 11 | EndProject 12 | Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Tutorial_05_DriveOnOffCharger", "Tutorial_05_DriveOnOffCharger\Tutorial_05_DriveOnOffCharger.csproj", "{BD4E478A-12E8-4485-A91D-BFBF82911D96}" 13 | EndProject 14 | Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Tutorial_06_FaceImage", "Tutorial_06_FaceImage\Tutorial_06_FaceImage.csproj", "{1FC6652B-40BD-4F74-9A44-4892C712D7DC}" 15 | EndProject 16 | Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Tutorial_07_DockWithCube", "Tutorial_07_DockWithCube\Tutorial_07_DockWithCube.csproj", "{41EBF12F-992D-4B34-8680-298685048674}" 17 | EndProject 18 | Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Tutorial_10_PlayAudio", "Tutorial_10_PlayAudio\Tutorial_10_PlayAudio.csproj", "{DFF44694-C260-41DF-8644-174011DB7108}" 19 | EndProject 20 | Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Tutorial_11_DriveToCliffAndBackUp", "Tutorial_11_DriveToCliffAndBackUp\Tutorial_11_DriveToCliffAndBackUp.csproj", "{DDCAB080-1942-4698-A9A3-C2D23B4BCF8D}" 21 | EndProject 22 | Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Tutorial_01_HelloWorld", "Tutorial_01_HelloWorld\Tutorial_01_HelloWorld.csproj", "{AC9228D9-034B-4EB4-A3C5-332279715518}" 23 | EndProject 24 | Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "VectorConfigure", "VectorConfigure\VectorConfigure.csproj", "{BA4B39FC-256E-4C35-B3CF-92008715894D}" 25 | EndProject 26 | Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "ReserveControl", "ReserveControl\ReserveControl.csproj", "{4DE8DBC1-E395-4FC4-A59A-8118A7F7279D}" 27 | EndProject 28 | Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Tutorial_08_DownloadPhoto", "Tutorial_08_DownloadPhoto\Tutorial_08_DownloadPhoto.csproj", "{242A8F07-AC2E-4D53-9DFD-2CE9DADEAE68}" 29 | EndProject 30 | Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Tutorial_09_EyeColor", "Tutorial_09_EyeColor\Tutorial_09_EyeColor.csproj", "{733CBE56-3291-4D50-A490-A3631D06DB3E}" 31 | EndProject 32 | Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Tutorial_12_ControlPriorityLevel", "Tutorial_12_ControlPriorityLevel\Tutorial_12_ControlPriorityLevel.csproj", "{7E4AB4AD-BFAF-423A-8D82-16F585C6A58E}" 33 | EndProject 34 | Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Tutorial_13_UserIntent", "Tutorial_13_UserIntent\Tutorial_13_UserIntent.csproj", "{47D0BC5F-794C-4917-A3DF-C5DA65EFD798}" 35 | EndProject 36 | Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Tutorial_14_FaceEvent", "Tutorial_14_FaceEvent\Tutorial_14_FaceEvent.csproj", "{A1108EE2-BF4B-405C-9D2F-3CDA1FDCE6C6}" 37 | EndProject 38 | Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Tutorial_15_FaceFollower", "Tutorial_15_FaceFollower\Tutorial_15_FaceFollower.csproj", "{7504FB09-4D54-4FC3-8C71-78A3079CAD74}" 39 | EndProject 40 | Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Tutorial_16_FeatureStatus", "Tutorial_16_FeatureStatus\Tutorial_16_FeatureStatus.csproj", "{B22099AE-65B3-4D2B-9C26-DAE1E01F1394}" 41 | EndProject 42 | Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Tutorial_17_AppIntent", "Tutorial_17_AppIntent\Tutorial_17_AppIntent.csproj", "{094723D9-BAAC-4AE0-9AE5-1FFA13DA5010}" 43 | EndProject 44 | Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Tutorial_18_XboxDrive", "Tutorial_18_XboxDrive\Tutorial_18_XboxDrive.csproj", "{58D34D54-BE6A-4BB5-BAF4-D3D7A0520F0A}" 45 | EndProject 46 | Global 47 | GlobalSection(SolutionConfigurationPlatforms) = preSolution 48 | Debug|Any CPU = Debug|Any CPU 49 | Release|Any CPU = Release|Any CPU 50 | EndGlobalSection 51 | GlobalSection(ProjectConfigurationPlatforms) = postSolution 52 | {440B50B4-DD81-447E-A852-065E5C5D6D0A}.Debug|Any CPU.ActiveCfg = Debug|Any CPU 53 | {440B50B4-DD81-447E-A852-065E5C5D6D0A}.Debug|Any CPU.Build.0 = Debug|Any CPU 54 | {440B50B4-DD81-447E-A852-065E5C5D6D0A}.Release|Any CPU.ActiveCfg = Release|Any CPU 55 | {440B50B4-DD81-447E-A852-065E5C5D6D0A}.Release|Any CPU.Build.0 = Release|Any CPU 56 | {6F8AE87F-53F5-48BD-85D0-B56B56096BDB}.Debug|Any CPU.ActiveCfg = Debug|Any CPU 57 | {6F8AE87F-53F5-48BD-85D0-B56B56096BDB}.Debug|Any CPU.Build.0 = Debug|Any CPU 58 | {6F8AE87F-53F5-48BD-85D0-B56B56096BDB}.Release|Any CPU.ActiveCfg = Release|Any CPU 59 | {6F8AE87F-53F5-48BD-85D0-B56B56096BDB}.Release|Any CPU.Build.0 = Release|Any CPU 60 | {919D801E-E63F-47FB-ACC1-3F5343C6492C}.Debug|Any CPU.ActiveCfg = Debug|Any CPU 61 | {919D801E-E63F-47FB-ACC1-3F5343C6492C}.Debug|Any CPU.Build.0 = Debug|Any CPU 62 | {919D801E-E63F-47FB-ACC1-3F5343C6492C}.Release|Any CPU.ActiveCfg = Release|Any CPU 63 | {919D801E-E63F-47FB-ACC1-3F5343C6492C}.Release|Any CPU.Build.0 = Release|Any CPU 64 | {BD4E478A-12E8-4485-A91D-BFBF82911D96}.Debug|Any CPU.ActiveCfg = Debug|Any CPU 65 | {BD4E478A-12E8-4485-A91D-BFBF82911D96}.Debug|Any CPU.Build.0 = Debug|Any CPU 66 | {BD4E478A-12E8-4485-A91D-BFBF82911D96}.Release|Any CPU.ActiveCfg = Release|Any CPU 67 | {BD4E478A-12E8-4485-A91D-BFBF82911D96}.Release|Any CPU.Build.0 = Release|Any CPU 68 | {1FC6652B-40BD-4F74-9A44-4892C712D7DC}.Debug|Any CPU.ActiveCfg = Debug|Any CPU 69 | {1FC6652B-40BD-4F74-9A44-4892C712D7DC}.Debug|Any CPU.Build.0 = Debug|Any CPU 70 | {1FC6652B-40BD-4F74-9A44-4892C712D7DC}.Release|Any CPU.ActiveCfg = Release|Any CPU 71 | {1FC6652B-40BD-4F74-9A44-4892C712D7DC}.Release|Any CPU.Build.0 = Release|Any CPU 72 | {41EBF12F-992D-4B34-8680-298685048674}.Debug|Any CPU.ActiveCfg = Debug|Any CPU 73 | {41EBF12F-992D-4B34-8680-298685048674}.Debug|Any CPU.Build.0 = Debug|Any CPU 74 | {41EBF12F-992D-4B34-8680-298685048674}.Release|Any CPU.ActiveCfg = Release|Any CPU 75 | {41EBF12F-992D-4B34-8680-298685048674}.Release|Any CPU.Build.0 = Release|Any CPU 76 | {DFF44694-C260-41DF-8644-174011DB7108}.Debug|Any CPU.ActiveCfg = Debug|Any CPU 77 | {DFF44694-C260-41DF-8644-174011DB7108}.Debug|Any CPU.Build.0 = Debug|Any CPU 78 | {DFF44694-C260-41DF-8644-174011DB7108}.Release|Any CPU.ActiveCfg = Release|Any CPU 79 | {DFF44694-C260-41DF-8644-174011DB7108}.Release|Any CPU.Build.0 = Release|Any CPU 80 | {DDCAB080-1942-4698-A9A3-C2D23B4BCF8D}.Debug|Any CPU.ActiveCfg = Debug|Any CPU 81 | {DDCAB080-1942-4698-A9A3-C2D23B4BCF8D}.Debug|Any CPU.Build.0 = Debug|Any CPU 82 | {DDCAB080-1942-4698-A9A3-C2D23B4BCF8D}.Release|Any CPU.ActiveCfg = Release|Any CPU 83 | {DDCAB080-1942-4698-A9A3-C2D23B4BCF8D}.Release|Any CPU.Build.0 = Release|Any CPU 84 | {AC9228D9-034B-4EB4-A3C5-332279715518}.Debug|Any CPU.ActiveCfg = Debug|Any CPU 85 | {AC9228D9-034B-4EB4-A3C5-332279715518}.Debug|Any CPU.Build.0 = Debug|Any CPU 86 | {AC9228D9-034B-4EB4-A3C5-332279715518}.Release|Any CPU.ActiveCfg = Release|Any CPU 87 | {AC9228D9-034B-4EB4-A3C5-332279715518}.Release|Any CPU.Build.0 = Release|Any CPU 88 | {BA4B39FC-256E-4C35-B3CF-92008715894D}.Debug|Any CPU.ActiveCfg = Debug|Any CPU 89 | {BA4B39FC-256E-4C35-B3CF-92008715894D}.Debug|Any CPU.Build.0 = Debug|Any CPU 90 | {BA4B39FC-256E-4C35-B3CF-92008715894D}.Release|Any CPU.ActiveCfg = Release|Any CPU 91 | {BA4B39FC-256E-4C35-B3CF-92008715894D}.Release|Any CPU.Build.0 = Release|Any CPU 92 | {4DE8DBC1-E395-4FC4-A59A-8118A7F7279D}.Debug|Any CPU.ActiveCfg = Debug|Any CPU 93 | {4DE8DBC1-E395-4FC4-A59A-8118A7F7279D}.Debug|Any CPU.Build.0 = Debug|Any CPU 94 | {4DE8DBC1-E395-4FC4-A59A-8118A7F7279D}.Release|Any CPU.ActiveCfg = Release|Any CPU 95 | {4DE8DBC1-E395-4FC4-A59A-8118A7F7279D}.Release|Any CPU.Build.0 = Release|Any CPU 96 | {242A8F07-AC2E-4D53-9DFD-2CE9DADEAE68}.Debug|Any CPU.ActiveCfg = Debug|Any CPU 97 | {242A8F07-AC2E-4D53-9DFD-2CE9DADEAE68}.Debug|Any CPU.Build.0 = Debug|Any CPU 98 | {242A8F07-AC2E-4D53-9DFD-2CE9DADEAE68}.Release|Any CPU.ActiveCfg = Release|Any CPU 99 | {242A8F07-AC2E-4D53-9DFD-2CE9DADEAE68}.Release|Any CPU.Build.0 = Release|Any CPU 100 | {733CBE56-3291-4D50-A490-A3631D06DB3E}.Debug|Any CPU.ActiveCfg = Debug|Any CPU 101 | {733CBE56-3291-4D50-A490-A3631D06DB3E}.Debug|Any CPU.Build.0 = Debug|Any CPU 102 | {733CBE56-3291-4D50-A490-A3631D06DB3E}.Release|Any CPU.ActiveCfg = Release|Any CPU 103 | {733CBE56-3291-4D50-A490-A3631D06DB3E}.Release|Any CPU.Build.0 = Release|Any CPU 104 | {7E4AB4AD-BFAF-423A-8D82-16F585C6A58E}.Debug|Any CPU.ActiveCfg = Debug|Any CPU 105 | {7E4AB4AD-BFAF-423A-8D82-16F585C6A58E}.Debug|Any CPU.Build.0 = Debug|Any CPU 106 | {7E4AB4AD-BFAF-423A-8D82-16F585C6A58E}.Release|Any CPU.ActiveCfg = Release|Any CPU 107 | {7E4AB4AD-BFAF-423A-8D82-16F585C6A58E}.Release|Any CPU.Build.0 = Release|Any CPU 108 | {47D0BC5F-794C-4917-A3DF-C5DA65EFD798}.Debug|Any CPU.ActiveCfg = Debug|Any CPU 109 | {47D0BC5F-794C-4917-A3DF-C5DA65EFD798}.Debug|Any CPU.Build.0 = Debug|Any CPU 110 | {47D0BC5F-794C-4917-A3DF-C5DA65EFD798}.Release|Any CPU.ActiveCfg = Release|Any CPU 111 | {47D0BC5F-794C-4917-A3DF-C5DA65EFD798}.Release|Any CPU.Build.0 = Release|Any CPU 112 | {A1108EE2-BF4B-405C-9D2F-3CDA1FDCE6C6}.Debug|Any CPU.ActiveCfg = Debug|Any CPU 113 | {A1108EE2-BF4B-405C-9D2F-3CDA1FDCE6C6}.Debug|Any CPU.Build.0 = Debug|Any CPU 114 | {A1108EE2-BF4B-405C-9D2F-3CDA1FDCE6C6}.Release|Any CPU.ActiveCfg = Release|Any CPU 115 | {A1108EE2-BF4B-405C-9D2F-3CDA1FDCE6C6}.Release|Any CPU.Build.0 = Release|Any CPU 116 | {7504FB09-4D54-4FC3-8C71-78A3079CAD74}.Debug|Any CPU.ActiveCfg = Debug|Any CPU 117 | {7504FB09-4D54-4FC3-8C71-78A3079CAD74}.Debug|Any CPU.Build.0 = Debug|Any CPU 118 | {7504FB09-4D54-4FC3-8C71-78A3079CAD74}.Release|Any CPU.ActiveCfg = Release|Any CPU 119 | {7504FB09-4D54-4FC3-8C71-78A3079CAD74}.Release|Any CPU.Build.0 = Release|Any CPU 120 | {B22099AE-65B3-4D2B-9C26-DAE1E01F1394}.Debug|Any CPU.ActiveCfg = Debug|Any CPU 121 | {B22099AE-65B3-4D2B-9C26-DAE1E01F1394}.Debug|Any CPU.Build.0 = Debug|Any CPU 122 | {B22099AE-65B3-4D2B-9C26-DAE1E01F1394}.Release|Any CPU.ActiveCfg = Release|Any CPU 123 | {B22099AE-65B3-4D2B-9C26-DAE1E01F1394}.Release|Any CPU.Build.0 = Release|Any CPU 124 | {094723D9-BAAC-4AE0-9AE5-1FFA13DA5010}.Debug|Any CPU.ActiveCfg = Debug|Any CPU 125 | {094723D9-BAAC-4AE0-9AE5-1FFA13DA5010}.Debug|Any CPU.Build.0 = Debug|Any CPU 126 | {094723D9-BAAC-4AE0-9AE5-1FFA13DA5010}.Release|Any CPU.ActiveCfg = Release|Any CPU 127 | {094723D9-BAAC-4AE0-9AE5-1FFA13DA5010}.Release|Any CPU.Build.0 = Release|Any CPU 128 | {58D34D54-BE6A-4BB5-BAF4-D3D7A0520F0A}.Debug|Any CPU.ActiveCfg = Debug|Any CPU 129 | {58D34D54-BE6A-4BB5-BAF4-D3D7A0520F0A}.Debug|Any CPU.Build.0 = Debug|Any CPU 130 | {58D34D54-BE6A-4BB5-BAF4-D3D7A0520F0A}.Release|Any CPU.ActiveCfg = Release|Any CPU 131 | {58D34D54-BE6A-4BB5-BAF4-D3D7A0520F0A}.Release|Any CPU.Build.0 = Release|Any CPU 132 | EndGlobalSection 133 | GlobalSection(SolutionProperties) = preSolution 134 | HideSolutionNode = FALSE 135 | EndGlobalSection 136 | GlobalSection(ExtensibilityGlobals) = postSolution 137 | SolutionGuid = {8680C591-3A63-43D7-8B22-CFECCA0F7EB2} 138 | EndGlobalSection 139 | EndGlobal 140 | -------------------------------------------------------------------------------- /Anki.Vector.Samples.sln.licenseheader: -------------------------------------------------------------------------------- 1 | extensions: designer.cs generated.cs 2 | extensions: .cs 3 | // 4 | // Copyright (c) %CurrentYear% Wayne Venables. All rights reserved. 5 | // 6 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | Apache License 2 | Version 2.0, January 2004 3 | http://www.apache.org/licenses/ 4 | 5 | TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 6 | 7 | 1. Definitions. 8 | 9 | "License" shall mean the terms and conditions for use, reproduction, 10 | and distribution as defined by Sections 1 through 9 of this document. 11 | 12 | "Licensor" shall mean the copyright owner or entity authorized by 13 | the copyright owner that is granting the License. 14 | 15 | "Legal Entity" shall mean the union of the acting entity and all 16 | other entities that control, are controlled by, or are under common 17 | control with that entity. For the purposes of this definition, 18 | "control" means (i) the power, direct or indirect, to cause the 19 | direction or management of such entity, whether by contract or 20 | otherwise, or (ii) ownership of fifty percent (50%) or more of the 21 | outstanding shares, or (iii) beneficial ownership of such entity. 22 | 23 | "You" (or "Your") shall mean an individual or Legal Entity 24 | exercising permissions granted by this License. 25 | 26 | "Source" form shall mean the preferred form for making modifications, 27 | including but not limited to software source code, documentation 28 | source, and configuration files. 29 | 30 | "Object" form shall mean any form resulting from mechanical 31 | transformation or translation of a Source form, including but 32 | not limited to compiled object code, generated documentation, 33 | and conversions to other media types. 34 | 35 | "Work" shall mean the work of authorship, whether in Source or 36 | Object form, made available under the License, as indicated by a 37 | copyright notice that is included in or attached to the work 38 | (an example is provided in the Appendix below). 39 | 40 | "Derivative Works" shall mean any work, whether in Source or Object 41 | form, that is based on (or derived from) the Work and for which the 42 | editorial revisions, annotations, elaborations, or other modifications 43 | represent, as a whole, an original work of authorship. For the purposes 44 | of this License, Derivative Works shall not include works that remain 45 | separable from, or merely link (or bind by name) to the interfaces of, 46 | the Work and Derivative Works thereof. 47 | 48 | "Contribution" shall mean any work of authorship, including 49 | the original version of the Work and any modifications or additions 50 | to that Work or Derivative Works thereof, that is intentionally 51 | submitted to Licensor for inclusion in the Work by the copyright owner 52 | or by an individual or Legal Entity authorized to submit on behalf of 53 | the copyright owner. For the purposes of this definition, "submitted" 54 | means any form of electronic, verbal, or written communication sent 55 | to the Licensor or its representatives, including but not limited to 56 | communication on electronic mailing lists, source code control systems, 57 | and issue tracking systems that are managed by, or on behalf of, the 58 | Licensor for the purpose of discussing and improving the Work, but 59 | excluding communication that is conspicuously marked or otherwise 60 | designated in writing by the copyright owner as "Not a Contribution." 61 | 62 | "Contributor" shall mean Licensor and any individual or Legal Entity 63 | on behalf of whom a Contribution has been received by Licensor and 64 | subsequently incorporated within the Work. 65 | 66 | 2. Grant of Copyright License. Subject to the terms and conditions of 67 | this License, each Contributor hereby grants to You a perpetual, 68 | worldwide, non-exclusive, no-charge, royalty-free, irrevocable 69 | copyright license to reproduce, prepare Derivative Works of, 70 | publicly display, publicly perform, sublicense, and distribute the 71 | Work and such Derivative Works in Source or Object form. 72 | 73 | 3. Grant of Patent License. Subject to the terms and conditions of 74 | this License, each Contributor hereby grants to You a perpetual, 75 | worldwide, non-exclusive, no-charge, royalty-free, irrevocable 76 | (except as stated in this section) patent license to make, have made, 77 | use, offer to sell, sell, import, and otherwise transfer the Work, 78 | where such license applies only to those patent claims licensable 79 | by such Contributor that are necessarily infringed by their 80 | Contribution(s) alone or by combination of their Contribution(s) 81 | with the Work to which such Contribution(s) was submitted. If You 82 | institute patent litigation against any entity (including a 83 | cross-claim or counterclaim in a lawsuit) alleging that the Work 84 | or a Contribution incorporated within the Work constitutes direct 85 | or contributory patent infringement, then any patent licenses 86 | granted to You under this License for that Work shall terminate 87 | as of the date such litigation is filed. 88 | 89 | 4. Redistribution. You may reproduce and distribute copies of the 90 | Work or Derivative Works thereof in any medium, with or without 91 | modifications, and in Source or Object form, provided that You 92 | meet the following conditions: 93 | 94 | (a) You must give any other recipients of the Work or 95 | Derivative Works a copy of this License; and 96 | 97 | (b) You must cause any modified files to carry prominent notices 98 | stating that You changed the files; and 99 | 100 | (c) You must retain, in the Source form of any Derivative Works 101 | that You distribute, all copyright, patent, trademark, and 102 | attribution notices from the Source form of the Work, 103 | excluding those notices that do not pertain to any part of 104 | the Derivative Works; and 105 | 106 | (d) If the Work includes a "NOTICE" text file as part of its 107 | distribution, then any Derivative Works that You distribute must 108 | include a readable copy of the attribution notices contained 109 | within such NOTICE file, excluding those notices that do not 110 | pertain to any part of the Derivative Works, in at least one 111 | of the following places: within a NOTICE text file distributed 112 | as part of the Derivative Works; within the Source form or 113 | documentation, if provided along with the Derivative Works; or, 114 | within a display generated by the Derivative Works, if and 115 | wherever such third-party notices normally appear. The contents 116 | of the NOTICE file are for informational purposes only and 117 | do not modify the License. You may add Your own attribution 118 | notices within Derivative Works that You distribute, alongside 119 | or as an addendum to the NOTICE text from the Work, provided 120 | that such additional attribution notices cannot be construed 121 | as modifying the License. 122 | 123 | You may add Your own copyright statement to Your modifications and 124 | may provide additional or different license terms and conditions 125 | for use, reproduction, or distribution of Your modifications, or 126 | for any such Derivative Works as a whole, provided Your use, 127 | reproduction, and distribution of the Work otherwise complies with 128 | the conditions stated in this License. 129 | 130 | 5. Submission of Contributions. Unless You explicitly state otherwise, 131 | any Contribution intentionally submitted for inclusion in the Work 132 | by You to the Licensor shall be under the terms and conditions of 133 | this License, without any additional terms or conditions. 134 | Notwithstanding the above, nothing herein shall supersede or modify 135 | the terms of any separate license agreement you may have executed 136 | with Licensor regarding such Contributions. 137 | 138 | 6. Trademarks. This License does not grant permission to use the trade 139 | names, trademarks, service marks, or product names of the Licensor, 140 | except as required for reasonable and customary use in describing the 141 | origin of the Work and reproducing the content of the NOTICE file. 142 | 143 | 7. Disclaimer of Warranty. Unless required by applicable law or 144 | agreed to in writing, Licensor provides the Work (and each 145 | Contributor provides its Contributions) on an "AS IS" BASIS, 146 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or 147 | implied, including, without limitation, any warranties or conditions 148 | of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A 149 | PARTICULAR PURPOSE. You are solely responsible for determining the 150 | appropriateness of using or redistributing the Work and assume any 151 | risks associated with Your exercise of permissions under this License. 152 | 153 | 8. Limitation of Liability. In no event and under no legal theory, 154 | whether in tort (including negligence), contract, or otherwise, 155 | unless required by applicable law (such as deliberate and grossly 156 | negligent acts) or agreed to in writing, shall any Contributor be 157 | liable to You for damages, including any direct, indirect, special, 158 | incidental, or consequential damages of any character arising as a 159 | result of this License or out of the use or inability to use the 160 | Work (including but not limited to damages for loss of goodwill, 161 | work stoppage, computer failure or malfunction, or any and all 162 | other commercial damages or losses), even if such Contributor 163 | has been advised of the possibility of such damages. 164 | 165 | 9. Accepting Warranty or Additional Liability. While redistributing 166 | the Work or Derivative Works thereof, You may choose to offer, 167 | and charge a fee for, acceptance of support, warranty, indemnity, 168 | or other liability obligations and/or rights consistent with this 169 | License. However, in accepting such obligations, You may act only 170 | on Your own behalf and on Your sole responsibility, not on behalf 171 | of any other Contributor, and only if You agree to indemnify, 172 | defend, and hold each Contributor harmless for any liability 173 | incurred by, or claims asserted against, such Contributor by reason 174 | of your accepting any such warranty or additional liability. 175 | 176 | END OF TERMS AND CONDITIONS 177 | 178 | APPENDIX: How to apply the Apache License to your work. 179 | 180 | To apply the Apache License to your work, attach the following 181 | boilerplate notice, with the fields enclosed by brackets "[]" 182 | replaced with your own identifying information. (Don't include 183 | the brackets!) The text should be enclosed in the appropriate 184 | comment syntax for the file format. We also recommend that a 185 | file or class name and description of purpose be included on the 186 | same "printed page" as the copyright notice for easier 187 | identification within third-party archives. 188 | 189 | Copyright [yyyy] [name of copyright owner] 190 | 191 | Licensed under the Apache License, Version 2.0 (the "License"); 192 | you may not use this file except in compliance with the License. 193 | You may obtain a copy of the License at 194 | 195 | http://www.apache.org/licenses/LICENSE-2.0 196 | 197 | Unless required by applicable law or agreed to in writing, software 198 | distributed under the License is distributed on an "AS IS" BASIS, 199 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 200 | See the License for the specific language governing permissions and 201 | limitations under the License. 202 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Anki Vector .NET SDK Sample applications 2 | 3 | This solution contains 2 applications and 15 tutorial applications for the Anki Vector SDK. 4 | 5 | ## Getting Started 6 | 7 | ### Documentation 8 | 9 | * [Anki Vector .NET SDK Documentation](https://codaris.github.io/Anki.Vector.SDK/) 10 | 11 | * [Anki Vector .NET SDK GitHub Project](https://github.com/codaris/Anki.Vector.SDK) 12 | 13 | 14 | ### Vector SDK Configuration and Authentication 15 | 16 | In order to run these samples, you will need authenticate with the robot and create a configuration file 17 | that is stored in your user profile. This SDK uses the same configuration file as the Python SDK 18 | and the [Vector Explorer](https://www.weekendrobot.com/vectorexplorer) application. 19 | 20 | The easiest way to get setup with Vector on you Windows PC is to install [Vector Explorer](https://www.weekendrobot.com/vectorexplorer) and configure your robot through that application. However, you 21 | can also use the `VectorConfigure` command line tool located in this solution. 22 | 23 | ## Sample Projects 24 | 25 | ### `VectorConfigure` 26 | 27 | This is a command line tool for configuring and authenticating the SDK with your Vector robot. You will need to run this 28 | command to create a configuration file in your profile to run the remaining SDK sample applications in this solution. 29 | 30 | You will be prompted for your robot’s name, ip address and serial number. You will also be asked for your Anki login and password. Make sure to use the same account that was used to set up your Vector. These credentials give full access to your robot, including camera stream, audio stream and data. *Do not share these credentials*. 31 | 32 | ### `ReserveControl` 33 | 34 | Command line tool for reserving control of Vector. Reserving control will keep Vector still during development so he doesn't drive off in-between runs of your code. It's also useful to keep Vector still when you need some peace and quiet. 35 | 36 | ### `Tutorial_01_HelloWorld` 37 | 38 | Everyone's first project, Vector will speak "Hello World". 39 | 40 | ### `Tutorial_02_DriveSquare` 41 | 42 | Make Vector drive in a square by going forward and turning left 4 times in a row. 43 | 44 | ### `Tutorial_03_Motors` 45 | 46 | Drive Vector's wheels, lift and head motors directly. This is an example of how you can also have low-level control of Vector's motors (wheels, lift and head) for fine-grained control and ease of controlling multiple things at once. 47 | 48 | ### `Tutorial_04_Animation` 49 | 50 | Play a few of Vector's animations. Play an animation using a trigger, and then another animation by name. 51 | 52 | ### `Tutorial_05_DriveOnOffCharger` 53 | 54 | Tell Vector to return to his charger and then drive off. 55 | 56 | ### `Tutorial_06_FaceImage` 57 | 58 | Display an JPEG image on Vector's face. 59 | 60 | ### `Tutorial_07_DockWithCube` 61 | 62 | Tell Vector to drive up to a seen cube. This example demonstrates Vector driving to and docking with a cube, without picking it up. Vector will line his arm hooks up with the cube so that they are inserted into the cube's corners. You must place a cube in front of Vector so that he can see it. 63 | 64 | ### `Tutorial_08_DownloadPhoto` 65 | 66 | Downloads all the photos stored in Vector. Before running this script, please make sure you have successfully had Vector take a photo by saying, "Hey Vector! Take a photo." 67 | 68 | ### `Tutorial_09_EyeColor` 69 | 70 | Set Vector's eye color. Note that Vector's eye color will return to normal when the connection terminates. 71 | 72 | ### `Tutorial_10_PlayAudio` 73 | 74 | Play audio files through Vector's speaker. This will play an embedded MP3 music file through Vector's speakers. 75 | 76 | ### `Tutorial_11_DriveToCliffAndBackUp` 77 | 78 | Make Vector drive to a cliff and back up. Place the robot about a foot from a "cliff" (such as a tabletop edge), then run this script. 79 | 80 | ### `Tutorial_12_ControlPriorityLevel` 81 | 82 | Vector maintains SDK behavior control after being picked up. During normal operation, SDK programs cannot maintain control over Vector when he is at a cliff, stuck on an edge or obstacle, tilted or inclined, picked up, in darkness, etc. This script demonstrates how to use the highest level SDK behavior control to make Vector perform actions that normally take priority over the SDK. 83 | 84 | ### `Tutorial_13_UserIntent` 85 | 86 | Return information about a voice commands given to Vector. The user_intent event is only dispatched when the SDK program has requested behavior control and Vector gets a voice command. After the robot hears "Hey Vector! ..." and a valid voice command is given for example "...what time is it?") the event will be dispatched and displayed. 87 | 88 | ### `Tutorial_14_FaceEvent` 89 | 90 | Wait for Vector to see a face, and then print output to the console. This script demonstrates how to set up a listener for an event. It subscribes to event `ObservedFace`. When that event is dispatched, the lambda is called, which prints text to the console. Vector will also say "I see a face" one time, and the program will exit when he finishes speaking. 91 | 92 | ### `Tutorial_15_FaceFollower` 93 | 94 | Make Vector turn toward a face. This script shows off the turn towards face behavior. It will wait for a face and then constantly turn towards it to keep it in frame. 95 | 96 | ### `Tutorial_16_FeatureStatus` 97 | 98 | Demonstration of the FeatureStatus event that shows which features Vector's AI is used to perform operations. This sample was contributed by [Randall Maas](https://github.com/randym32). 99 | 100 | ### `Tutorial_17_AppIntent` 101 | 102 | Demonstration of submitting AppIntents to Vector for processing. This sample was contributed by [Randall Maas](https://github.com/randym32). 103 | 104 | ### `Tutorial_18_XboxDrive` 105 | 106 | Drive Vector around with an XBox Controller. This sample was contributed by [Randall Maas](https://github.com/randym32). 107 | 108 | ## Getting Help 109 | 110 | There are numerous places to get help with programming Vector using the .NET SDK: 111 | 112 | * **Official Anki developer forums**: https://forums.anki.com/ 113 | 114 | * **Anki Vector developer subreddit**: https://www.reddit.com/r/ankivectordevelopers 115 | 116 | * **Anki robots Discord chat**: https://discord.gg/FT8EYwu 117 | 118 | 119 | 120 | 121 | -------------------------------------------------------------------------------- /ReserveControl/Program.cs: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2019 Wayne Venables. All rights reserved. 3 | // 4 | 5 | using System; 6 | using Anki.Vector; 7 | 8 | namespace ReserveControl 9 | { 10 | class Program 11 | { 12 | /// 13 | /// Reserve SDK Behavior Control 14 | /// While this script runs, other SDK scripts may run and Vector will not perform most default behaviors before/after they complete.This will keep Vector still. 15 | /// High priority behaviors like returning to the charger in a low battery situation, or retreating from a cliff will still take precedence. 16 | /// 17 | static void Main() 18 | { 19 | using var behaviorControl = new ReserveBehaviorControl(); 20 | Console.WriteLine("Vector behavior control reserved for SDK. Hit 'Enter' to release control."); 21 | while (Console.ReadKey().Key != ConsoleKey.Enter) ; 22 | } 23 | } 24 | } 25 | -------------------------------------------------------------------------------- /ReserveControl/ReserveControl.csproj: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Exe 5 | netcoreapp3.0 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | -------------------------------------------------------------------------------- /Tutorial_01_HelloWorld/Program.cs: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2019 Wayne Venables. All rights reserved. 3 | // 4 | 5 | using System; 6 | using System.Threading.Tasks; 7 | using Anki.Vector; 8 | 9 | namespace Tutorial_01_HelloWorld 10 | { 11 | class Program 12 | { 13 | /// 14 | /// Hello World 15 | /// Make Vector say 'Hello World' in this simple Vector SDK example program. 16 | /// 17 | public static async Task Main() 18 | { 19 | // Create a new connection to the first configured Vector 20 | using var robot = await Robot.NewConnection(); 21 | 22 | Console.WriteLine("Requesting control of Vector..."); 23 | await robot.Control.RequestControl(); 24 | 25 | Console.WriteLine("Saying 'Hello World'..."); 26 | await robot.Behavior.SayText("Hello World"); 27 | } 28 | } 29 | } -------------------------------------------------------------------------------- /Tutorial_01_HelloWorld/Tutorial_01_HelloWorld.csproj: -------------------------------------------------------------------------------- 1 |  2 | 3 | 4 | Exe 5 | netcoreapp3.0 6 | false 7 | false 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /Tutorial_02_DriveSquare/Program.cs: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2019 Wayne Venables. All rights reserved. 3 | // 4 | 5 | using System; 6 | using System.Threading.Tasks; 7 | using Anki.Vector; 8 | using Anki.Vector.Types; 9 | 10 | namespace Tutorial_02_DriveSquare 11 | { 12 | class Program 13 | { 14 | /// 15 | /// Make Vector drive in a square. 16 | /// Make Vector drive in a square by going forward and turning left 4 times in a row. 17 | /// 18 | /// 19 | public static async Task Main() 20 | { 21 | // Create a new connection to the first configured Vector 22 | using var robot = await Robot.NewConnection(); 23 | 24 | Console.WriteLine("Requesting control of Vector..."); 25 | await robot.Control.RequestControl(); 26 | 27 | // If Vector is on the charger, drive him off the charger 28 | if (robot.Status.IsOnCharger) 29 | { 30 | Console.WriteLine("Drive Vector off charger..."); 31 | await robot.Behavior.DriveOffCharger(); 32 | } 33 | 34 | // Loop 4 times 35 | for (int i = 0; i < 4; i++) 36 | { 37 | Console.WriteLine("Drive Vector straight..."); 38 | await robot.Behavior.DriveStraight(200, 50); 39 | Console.WriteLine("Turn Vector in place..."); 40 | await robot.Behavior.TurnInPlace(90.Degrees()); 41 | } 42 | } 43 | } 44 | } 45 | -------------------------------------------------------------------------------- /Tutorial_02_DriveSquare/Tutorial_02_DriveSquare.csproj: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Exe 5 | netcoreapp3.0 6 | false 7 | false 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /Tutorial_03_Motors/Program.cs: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2019 Wayne Venables. All rights reserved. 3 | // 4 | 5 | using System; 6 | using System.Threading.Tasks; 7 | using Anki.Vector; 8 | 9 | namespace Tutorial_03_Motors 10 | { 11 | class Program 12 | { 13 | /// 14 | /// Drive Vector's wheels, lift and head motors directly. 15 | /// This is an example of how you can also have low-level control of Vector's motors 16 | /// (wheels, lift and head) for fine-grained control and ease of controlling multiple things at once. 17 | /// 18 | public static async Task Main() 19 | { 20 | // Create a new connection to the first configured Vector 21 | using var robot = await Robot.NewConnection(); 22 | 23 | Console.WriteLine("Requesting control of Vector..."); 24 | await robot.Control.RequestControl(); 25 | 26 | // If Vector is on the charger, drive him off the charger 27 | if (robot.Status.IsOnCharger) 28 | { 29 | Console.WriteLine("Drive Vector off charger..."); 30 | await robot.Behavior.DriveOffCharger(); 31 | } 32 | 33 | // Tell the head motor to start lowering the head (at 5 radians per second) 34 | Console.WriteLine("Lower Vector's head..."); 35 | await robot.Motors.SetHeadMotor(-5.0f); 36 | 37 | // Tell the lift motor to start lowering the lift (at 5 radians per second) 38 | Console.WriteLine("Lower Vector's lift..."); 39 | await robot.Motors.SetLiftMotor(-5.0f); 40 | 41 | // Tell Vector to drive the left wheel at 25 mmps (millimeters per second), 42 | // and the right wheel at 50 mmps (so Vector will drive Forwards while also 43 | // turning to the left. 44 | Console.WriteLine("Set Vector's wheel motors..."); 45 | await robot.Motors.SetWheelMotors(25, 50); 46 | 47 | // Wait 3 seconds 48 | await Task.Delay(3000); 49 | 50 | // Tell the head motor to start raising the head (at 5 radians per second) 51 | Console.WriteLine("Raise Vector's head..."); 52 | await robot.Motors.SetHeadMotor(5); 53 | 54 | // Tell the lift motor to start raising the lift (at 5 radians per second) 55 | Console.WriteLine("Raise Vector's lift..."); 56 | await robot.Motors.SetLiftMotor(5); 57 | 58 | // Tell Vector to drive the left wheel at 50 mmps (millimeters per second), 59 | // and the right wheel at -50 mmps (so Vector will turn in-place to the right) 60 | Console.WriteLine("Set Vector's wheel motors..."); 61 | await robot.Motors.SetWheelMotors(50, -50); 62 | 63 | // Wait for 3 seconds (the head, lift and wheels will move while we wait) 64 | await Task.Delay(3000); 65 | 66 | // Stop the motors, which unlocks the tracks 67 | await robot.Motors.StopAllMotors(); 68 | } 69 | } 70 | } 71 | -------------------------------------------------------------------------------- /Tutorial_03_Motors/Tutorial_03_Motors.csproj: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Exe 5 | netcoreapp3.0 6 | false 7 | false 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /Tutorial_04_Animation/Program.cs: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2019 Wayne Venables. All rights reserved. 3 | // 4 | 5 | using System; 6 | using System.Threading.Tasks; 7 | using Anki.Vector; 8 | 9 | namespace Tutorial_04_Animation 10 | { 11 | class Program 12 | { 13 | /// 14 | /// Play animations on Vector. 15 | /// Play an animation using a trigger, and then another animation by name. 16 | /// 17 | static async Task Main() 18 | { 19 | // Create a new connection to the first configured Vector 20 | using var robot = await Robot.NewConnection(); 21 | 22 | Console.WriteLine("Requesting control of Vector..."); 23 | await robot.Control.RequestControl(); 24 | 25 | // If Vector is on the charger, drive him off the charger 26 | if (robot.Status.IsOnCharger) 27 | { 28 | Console.WriteLine("Drive Vector off charger..."); 29 | await robot.Behavior.DriveOffCharger(); 30 | } 31 | 32 | // Play an animation via a trigger. 33 | // A trigger can pick from several appropriate animations for variety. 34 | Console.WriteLine("Playing Animation Trigger 1:"); 35 | await robot.Animation.PlayAnimationTrigger("GreetAfterLongTime"); 36 | 37 | // Play the same trigger, but this time ignore the track that plays on the 38 | // body (i.e. don't move the wheels). See the play_animation_trigger documentation 39 | // for other available settings. 40 | Console.WriteLine("Playing Animation Trigger 2: (Ignoring the body track)"); 41 | await robot.Animation.PlayAnimationTrigger("GreetAfterLongTime", ignoreBodyTrack: true); 42 | 43 | // Play an animation via its name. 44 | var animation = "anim_pounce_success_02"; 45 | Console.WriteLine("Playing animation by name: " + animation); 46 | await robot.Animation.PlayAnimation(animation); 47 | } 48 | } 49 | } 50 | -------------------------------------------------------------------------------- /Tutorial_04_Animation/Tutorial_04_Animation.csproj: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Exe 5 | netcoreapp3.0 6 | false 7 | false 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /Tutorial_05_DriveOnOffCharger/Program.cs: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2019 Wayne Venables. All rights reserved. 3 | // 4 | 5 | using System; 6 | using System.Threading.Tasks; 7 | using Anki.Vector; 8 | 9 | namespace Tutorial_05_DriveOnOffCharger 10 | { 11 | class Program 12 | { 13 | /// 14 | /// Tell Vector to drive on and off the charger. 15 | /// 16 | public static async Task Main() 17 | { 18 | // Create a new connection to the first configured Vector 19 | using var robot = await Robot.NewConnection(); 20 | 21 | Console.WriteLine("Requesting control of Vector..."); 22 | await robot.Control.RequestControl(); 23 | 24 | Console.WriteLine("Drive Vector on charger..."); 25 | await robot.Behavior.DriveOnCharger(); 26 | 27 | Console.WriteLine("Drive Vector off charger..."); 28 | await robot.Behavior.DriveOffCharger(); 29 | } 30 | } 31 | } 32 | -------------------------------------------------------------------------------- /Tutorial_05_DriveOnOffCharger/Tutorial_05_DriveOnOffCharger.csproj: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Exe 5 | netcoreapp3.0 6 | false 7 | false 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /Tutorial_06_FaceImage/Program.cs: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2019 Wayne Venables. All rights reserved. 3 | // 4 | 5 | using System; 6 | using System.Reflection; 7 | using System.Runtime.InteropServices; 8 | using System.Threading; 9 | using System.Threading.Tasks; 10 | using Anki.Vector; 11 | using Anki.Vector.Types; 12 | using SixLabors.ImageSharp; 13 | using SixLabors.ImageSharp.Advanced; 14 | using SixLabors.ImageSharp.PixelFormats; 15 | 16 | namespace Tutorial_06_FaceImage 17 | { 18 | class Program 19 | { 20 | /// 21 | /// Display an image on Vector's face. 22 | /// 23 | public static async Task Main() 24 | { 25 | // Get image 26 | using var resourceStream = Assembly.GetExecutingAssembly().GetManifestResourceStream("Tutorial_06_FaceImage.cozmo_image.jpg"); 27 | using var image = SixLabors.ImageSharp.Image.Load(resourceStream); 28 | 29 | // Create a new connection to the first configured Vector 30 | using var robot = await Robot.NewConnection(); 31 | 32 | var data = ConvertImageToByteArray(image); 33 | 34 | Console.WriteLine("Requesting control of Vector..."); 35 | await robot.Control.RequestControl(); 36 | 37 | Console.WriteLine("Setting head angle and lift height..."); 38 | await robot.Behavior.SetHeadAngle(45.Degrees()); 39 | await robot.Behavior.SetLiftHeight(0); 40 | 41 | Console.WriteLine("Displaying image for 5 seconds..."); 42 | await robot.Screen.DisplayImageRgb24(data, 5000); 43 | await Task.Delay(5000); 44 | } 45 | 46 | /// 47 | /// Converts the image data to a byte array 48 | /// 49 | /// The image. 50 | /// 51 | /// Cannot extract pixel data from image. 52 | private static byte[] ConvertImageToByteArray(Image image) 53 | { 54 | if (image.TryGetSinglePixelSpan(out var pixelSpan)) 55 | { 56 | return MemoryMarshal.AsBytes(pixelSpan).ToArray(); 57 | } 58 | throw new NotSupportedException("Cannot extract pixel data from image."); 59 | } 60 | } 61 | } 62 | -------------------------------------------------------------------------------- /Tutorial_06_FaceImage/Tutorial_06_FaceImage.csproj: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Exe 5 | netcoreapp3.0 6 | false 7 | false 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | -------------------------------------------------------------------------------- /Tutorial_06_FaceImage/cozmo_image.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/codaris/Anki.Vector.Samples/7e66328398cfa2b3101b6ec23b0764a9db46d650/Tutorial_06_FaceImage/cozmo_image.jpg -------------------------------------------------------------------------------- /Tutorial_07_DockWithCube/Program.cs: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2019 Wayne Venables. All rights reserved. 3 | // 4 | 5 | using System; 6 | using System.Threading.Tasks; 7 | using Anki.Vector; 8 | using Anki.Vector.Types; 9 | 10 | namespace Tutorial_07_DockWithCube 11 | { 12 | class Program 13 | { 14 | /// 15 | /// Tell Vector to drive up to a seen cube. 16 | /// This example demonstrates Vector driving to and docking with a cube, without picking it up. 17 | /// Vector will line his arm hooks up with the cube so that they are inserted into the cube's corners. 18 | /// You must place a cube in front of Vector so that he can see it. 19 | /// 20 | public static async Task Main() 21 | { 22 | // Create a new connection to the first configured Vector 23 | using var robot = await Robot.NewConnection(); 24 | 25 | Console.WriteLine("Requesting control of Vector..."); 26 | await robot.Control.RequestControl(); 27 | 28 | // If Vector is on the charger, drive him off the charger 29 | if (robot.Status.IsOnCharger) 30 | { 31 | Console.WriteLine("Drive Vector off charger..."); 32 | await robot.Behavior.DriveOffCharger(); 33 | } 34 | 35 | Console.WriteLine("Setting head angle and lift height..."); 36 | await robot.Behavior.SetHeadAngle(-5.Degrees()); 37 | await robot.Behavior.SetLiftHeight(0); 38 | 39 | Console.WriteLine("Connecting to a cube..."); 40 | await robot.World.ConnectCube(); 41 | 42 | ActionResult dockingResult = null; 43 | 44 | if (robot.World.LightCube != null) 45 | { 46 | Console.WriteLine("Begin cube docking..."); 47 | dockingResult = await robot.Behavior.DockWithCube(robot.World.LightCube, numRetries: 3); 48 | Console.WriteLine("Disconnect the cube..."); 49 | await robot.World.DisconnectCube(); 50 | 51 | if (!dockingResult.IsSuccess) 52 | { 53 | Console.WriteLine($"Cube docking failed with code '{dockingResult.Result}'"); 54 | } 55 | } 56 | else 57 | { 58 | Console.WriteLine("Could not connect to light cube"); 59 | } 60 | } 61 | } 62 | } 63 | -------------------------------------------------------------------------------- /Tutorial_07_DockWithCube/Tutorial_07_DockWithCube.csproj: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Exe 5 | netcoreapp3.0 6 | false 7 | false 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /Tutorial_08_DownloadPhoto/Program.cs: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2019 Wayne Venables. All rights reserved. 3 | // 4 | 5 | using System; 6 | using System.IO; 7 | using System.Linq; 8 | using System.Threading.Tasks; 9 | using Anki.Vector; 10 | 11 | namespace Tutorial_08_DownloadPhoto 12 | { 13 | class Program 14 | { 15 | /// 16 | /// Downloads all the photos stored in Vector 17 | /// Before running this script, please make sure you have successfully had Vector take a photo by saying, "Hey Vector! Take a photo." 18 | /// 19 | static async Task Main() 20 | { 21 | // Create a new connection to the first configured Vector 22 | using var robot = await Robot.NewConnection(); 23 | 24 | var photos = (await robot.Photos.GetPhotoInfo()).ToList(); 25 | if (photos.Count == 0) 26 | { 27 | Console.WriteLine("No photos found on Vector. Ask him to take a photo first by saying, 'Hey Vector! Take a photo.'"); 28 | return; 29 | } 30 | foreach (var photo in photos) 31 | { 32 | string fileName = $"photo{photo.PhotoId}.jpg"; 33 | Console.WriteLine($"Writing photo {fileName}"); 34 | var data = await robot.Photos.GetPhoto(photo); 35 | File.WriteAllBytes(fileName, data); 36 | } 37 | } 38 | } 39 | } 40 | -------------------------------------------------------------------------------- /Tutorial_08_DownloadPhoto/Tutorial_08_DownloadPhoto.csproj: -------------------------------------------------------------------------------- 1 |  2 | 3 | 4 | Exe 5 | netcoreapp3.0 6 | false 7 | false 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /Tutorial_09_EyeColor/Program.cs: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2019 Wayne Venables. All rights reserved. 3 | // 4 | 5 | using System; 6 | using System.Threading.Tasks; 7 | using Anki.Vector; 8 | 9 | namespace Tutorial_09_EyeColor 10 | { 11 | class Program 12 | { 13 | /// 14 | /// Set Vector's eye color. 15 | /// Note that Vector's eye color will return to normal when the connection terminates. 16 | /// 17 | static async Task Main() 18 | { 19 | // Create a new connection to the first configured Vector 20 | using var robot = await Robot.NewConnection(); 21 | 22 | Console.WriteLine("Set Vector's eye color to purple..."); 23 | await robot.Behavior.SetEyeColor(0.83f, 0.76f); 24 | 25 | Console.WriteLine("Press any key to exit..."); 26 | await Task.Run(() => Console.ReadKey(true)); 27 | } 28 | } 29 | } 30 | -------------------------------------------------------------------------------- /Tutorial_09_EyeColor/Tutorial_09_EyeColor.csproj: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Exe 5 | netcoreapp3.0 6 | false 7 | false 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /Tutorial_10_PlayAudio/Program.cs: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2019 Wayne Venables. All rights reserved. 3 | // 4 | 5 | using System; 6 | using System.Reflection; 7 | using System.Threading.Tasks; 8 | using Anki.Vector; 9 | using NAudio.Wave; 10 | 11 | namespace Tutorial_10_PlayAudio 12 | { 13 | class Program 14 | { 15 | /// 16 | /// Play audio files through Vector's speaker. 17 | /// 18 | public static async Task Main() 19 | { 20 | // Vector's supported sound format 21 | var outFormat = new WaveFormat(16000, 16, 1); 22 | 23 | // Music: https://www.bensound.com 24 | using var resourceStream = Assembly.GetExecutingAssembly().GetManifestResourceStream("Tutorial_10_PlayAudio.bensound-summer.mp3"); 25 | using var source = new Mp3FileReader(resourceStream); 26 | using var reader = new WaveFormatConversionStream(outFormat, source); 27 | 28 | // Create a new connection to the first configured Vector 29 | using var robot = await Robot.NewConnection(); 30 | 31 | // Calculate the framerate 32 | uint frameRate = (uint)(reader.Length / reader.TotalTime.TotalSeconds / 2); 33 | 34 | // Run the audiostream in the background. 35 | var playback = robot.Audio.PlayStream(reader, frameRate, 50); 36 | 37 | Console.WriteLine("Press a key to stop playback"); 38 | await Task.Run(() => Console.ReadKey(true)); 39 | 40 | await robot.Audio.CancelPlayback(); 41 | 42 | var result = await playback; 43 | 44 | Console.WriteLine($"Playback result: {result}"); 45 | 46 | Console.WriteLine("Press a key to end."); 47 | await Task.Run(() => Console.ReadKey(true)); 48 | } 49 | } 50 | } 51 | -------------------------------------------------------------------------------- /Tutorial_10_PlayAudio/Tutorial_10_PlayAudio.csproj: -------------------------------------------------------------------------------- 1 |  2 | 3 | 4 | Exe 5 | netcoreapp3.0 6 | false 7 | false 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | -------------------------------------------------------------------------------- /Tutorial_10_PlayAudio/bensound-summer.mp3: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/codaris/Anki.Vector.Samples/7e66328398cfa2b3101b6ec23b0764a9db46d650/Tutorial_10_PlayAudio/bensound-summer.mp3 -------------------------------------------------------------------------------- /Tutorial_10_PlayAudio/vector_alert.wav: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/codaris/Anki.Vector.Samples/7e66328398cfa2b3101b6ec23b0764a9db46d650/Tutorial_10_PlayAudio/vector_alert.wav -------------------------------------------------------------------------------- /Tutorial_10_PlayAudio/vector_bell_whistle.wav: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/codaris/Anki.Vector.Samples/7e66328398cfa2b3101b6ec23b0764a9db46d650/Tutorial_10_PlayAudio/vector_bell_whistle.wav -------------------------------------------------------------------------------- /Tutorial_11_DriveToCliffAndBackUp/Program.cs: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2019 Wayne Venables. All rights reserved. 3 | // 4 | 5 | using System; 6 | using System.Threading.Tasks; 7 | using Anki.Vector; 8 | 9 | namespace Tutorial_11_DriveToCliffAndBackUp 10 | { 11 | class Program 12 | { 13 | /// 14 | /// Make Vector drive to a cliff and back up. 15 | /// Place the robot about a foot from a "cliff" (such as a tabletop edge), then run this script. 16 | /// 17 | public static async Task Main() 18 | { 19 | // Create a new connection to the first configured Vector 20 | using var robot = await Robot.NewConnection(); 21 | 22 | Console.WriteLine("Requesting control of Vector..."); 23 | await robot.Control.RequestControl(); 24 | 25 | // If Vector is on the charger, drive him off the charger 26 | if (robot.Status.IsOnCharger) 27 | { 28 | Console.WriteLine("Drive Vector off charger..."); 29 | await robot.Behavior.DriveOffCharger(); 30 | } 31 | 32 | Console.WriteLine("Drive Vector straight until he reaches cliff..."); 33 | await robot.Behavior.DriveStraight(5000, 100); 34 | 35 | // Wait for control to be lost 36 | Console.WriteLine("Wait for control to be lost..."); 37 | await robot.Control.WaitForControlChange(); 38 | Console.WriteLine("Requesting control of Vector..."); 39 | await robot.Control.RequestControl(); 40 | Console.WriteLine("Drive Vector backward away from the cliff..."); 41 | await robot.Behavior.DriveStraight(-300, 100); 42 | } 43 | } 44 | } 45 | -------------------------------------------------------------------------------- /Tutorial_11_DriveToCliffAndBackUp/Tutorial_11_DriveToCliffAndBackUp.csproj: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Exe 5 | netcoreapp3.0 6 | false 7 | false 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /Tutorial_12_ControlPriorityLevel/Program.cs: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2019 Wayne Venables. All rights reserved. 3 | // 4 | 5 | using System; 6 | using System.Threading.Tasks; 7 | using Anki.Vector; 8 | 9 | namespace Tutorial_12_ControlPriorityLevel 10 | { 11 | class Program 12 | { 13 | /// 14 | /// Vector maintains SDK behavior control after being picked up 15 | /// During normal operation, SDK programs cannot maintain control over Vector when he is at a cliff, stuck on an edge or obstacle, tilted or inclined, picked up, in darkness, etc. 16 | /// This script demonstrates how to use the highest level SDK behavior control to make Vector perform actions that 17 | /// normally take priority over the SDK. These commands will not succeed at . 18 | /// 19 | static async Task Main() 20 | { 21 | // Create a new connection to the first configured Vector 22 | using var robot = await Robot.NewConnection(); 23 | 24 | Console.WriteLine("Requesting override control of Vector..."); 25 | await robot.Control.RequestControl(ControlPriority.OverrideBehaviors); 26 | 27 | // Say pick me up and wait for a key press to exit 28 | await robot.Behavior.SayText("Pick me up!"); 29 | Console.WriteLine("Waiting for Vector to be picked up, press any key to exit..."); 30 | 31 | // Wait for vector to be picked up or key press 32 | while (!robot.Status.IsPickedUp && !Console.KeyAvailable) 33 | { 34 | // Wait 0.5 seconds 35 | await Task.Delay(500); 36 | } 37 | 38 | // Exit if key pressed 39 | if (Console.KeyAvailable) return; 40 | 41 | // If Vector is picked up move him around 42 | Console.WriteLine("Vector is picked up..."); 43 | await robot.Behavior.SayText("Hold on tight"); 44 | Console.WriteLine("Setting wheel motors..."); 45 | await robot.Motors.SetWheelMotors(75, -75); 46 | await Task.Delay(500); 47 | await robot.Motors.SetWheelMotors(-75, 75); 48 | await Task.Delay(500); 49 | await robot.Motors.StopAllMotors(); 50 | } 51 | } 52 | } 53 | -------------------------------------------------------------------------------- /Tutorial_12_ControlPriorityLevel/Tutorial_12_ControlPriorityLevel.csproj: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Exe 5 | netcoreapp3.0 6 | false 7 | false 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /Tutorial_13_UserIntent/Program.cs: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2019 Wayne Venables. All rights reserved. 3 | // 4 | 5 | using System; 6 | using System.Threading.Tasks; 7 | using Anki.Vector; 8 | 9 | namespace Tutorial_13_UserIntent 10 | { 11 | class Program 12 | { 13 | /// 14 | /// Return information about a voice commands given to Vector 15 | /// The user_intent event is only dispatched when the SDK program has requested behavior control and Vector gets a voice command. 16 | /// After the robot hears "Hey Vector! ..." and a valid voice command is given for example "...what time is it?") the event will be dispatched and displayed. 17 | /// 18 | static async Task Main() 19 | { 20 | using var robot = await Robot.NewConnection(); 21 | Console.WriteLine("Requesting control of Vector..."); 22 | await robot.Control.RequestControl(); 23 | 24 | robot.Events.UserIntent += (sender, e) => 25 | { 26 | Console.WriteLine($"Received {e.Intent}"); 27 | Console.WriteLine(e.IntentData); 28 | }; 29 | 30 | Console.WriteLine("Vector is waiting for a voice command like 'Hey Vector! What time is it?' Press any key to exit..."); 31 | await Task.Run(() => Console.ReadKey(true)); 32 | } 33 | } 34 | } 35 | -------------------------------------------------------------------------------- /Tutorial_13_UserIntent/Tutorial_13_UserIntent.csproj: -------------------------------------------------------------------------------- 1 |  2 | 3 | 4 | Exe 5 | netcoreapp3.0 6 | false 7 | false 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /Tutorial_14_FaceEvent/Program.cs: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2019 Wayne Venables. All rights reserved. 3 | // 4 | 5 | using System; 6 | using System.Threading.Tasks; 7 | using Anki.Vector; 8 | using Anki.Vector.Types; 9 | 10 | namespace Tutorial_14_FaceEvent 11 | { 12 | class Program 13 | { 14 | /// 15 | /// Wait for Vector to see a face, and then print output to the console. 16 | /// This script demonstrates how to set up a listener for an event. It subscribes to event ObservedFace. When that event is dispatched, 17 | /// the lambda is called, which prints text to the console. Vector will also say "I see a face" one time, and the program will exit when 18 | /// he finishes speaking. 19 | /// 20 | static async Task Main() 21 | { 22 | // Create a new connection to the first configured Vector 23 | using var robot = await Robot.NewConnection(); 24 | 25 | Console.WriteLine("Requesting control of Vector..."); 26 | await robot.Control.RequestControl(); 27 | 28 | Console.WriteLine("Enabling face detection..."); 29 | await robot.Vision.EnableFaceDetection(); 30 | 31 | Console.WriteLine("Move Vector's Head and Lift to make it easy to see a face."); 32 | await robot.Behavior.SetHeadAngle(45.Degrees()); 33 | await robot.Behavior.SetLiftHeight(0); 34 | 35 | bool sawFace = false; 36 | bool exit = false; 37 | 38 | robot.Events.ObservedFace += async (sender, e) => 39 | { 40 | if (sawFace) return; 41 | sawFace = true; 42 | Console.WriteLine("Vector sees a face"); 43 | await robot.Behavior.SayText("I see a face"); 44 | exit = true; 45 | }; 46 | 47 | Console.WriteLine("Press a key to exit before Vector sees a face..."); 48 | while (!exit && !Console.KeyAvailable) 49 | { 50 | await Task.Delay(500); 51 | } 52 | } 53 | } 54 | } 55 | -------------------------------------------------------------------------------- /Tutorial_14_FaceEvent/Tutorial_14_FaceEvent.csproj: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Exe 5 | netcoreapp3.0 6 | false 7 | false 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /Tutorial_15_FaceFollower/Program.cs: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2019 Wayne Venables. All rights reserved. 3 | // 4 | 5 | using System; 6 | using System.Threading.Tasks; 7 | using Anki.Vector; 8 | using Anki.Vector.Objects; 9 | using Anki.Vector.Types; 10 | 11 | namespace Tutorial_15_FaceFollower 12 | { 13 | class Program 14 | { 15 | /// 16 | /// Make Vector turn toward a face. 17 | /// This script shows off the turn_towards_face behavior. It will wait for a face and then constantly turn towards it to keep it in frame. 18 | /// 19 | static async Task Main() 20 | { 21 | // Create a new connection to the first configured Vector 22 | using var robot = await Robot.NewConnection(); 23 | 24 | Console.WriteLine("Requesting control of Vector..."); 25 | await robot.Control.RequestControl(); 26 | 27 | Console.WriteLine("Enabling face detection..."); 28 | await robot.Vision.EnableFaceDetection(); 29 | 30 | // If Vector is on the charger, drive him off the charger 31 | if (robot.Status.IsOnCharger) 32 | { 33 | Console.WriteLine("Drive Vector off charger..."); 34 | await robot.Behavior.DriveOffCharger(); 35 | } 36 | 37 | Console.WriteLine("Move Vector's Head and Lift to make it easy to see a face."); 38 | await robot.Behavior.SetHeadAngle(45.Degrees()); 39 | await robot.Behavior.SetLiftHeight(0); 40 | 41 | // The face to follow 42 | Face faceToFollow = null; 43 | 44 | // Observe objects and save the first face found 45 | robot.World.ObjectObserved += (sender, e) => 46 | { 47 | if (e.Object is Face && faceToFollow == null) 48 | { 49 | Console.WriteLine("Found a face to track."); 50 | faceToFollow = (Face)e.Object; 51 | } 52 | }; 53 | 54 | Console.WriteLine("Press any key to exit..."); 55 | while (!Console.KeyAvailable) 56 | { 57 | if (faceToFollow != null) await robot.Behavior.TurnTowardsFace(faceToFollow); 58 | await Task.Delay(100); 59 | } 60 | } 61 | } 62 | } 63 | -------------------------------------------------------------------------------- /Tutorial_15_FaceFollower/Tutorial_15_FaceFollower.csproj: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Exe 5 | netcoreapp3.0 6 | false 7 | false 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /Tutorial_16_FeatureStatus/Program.cs: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2019 Wayne Venables. All rights reserved. 3 | // 4 | 5 | using System; 6 | using System.Collections.Generic; 7 | using System.Threading.Tasks; 8 | using Anki.Vector; 9 | 10 | namespace Tutorial_16_FeatureStatus 11 | { 12 | class Program 13 | { 14 | /// 15 | /// Return information about the features that Vector's AI is using 16 | /// 17 | static async Task Main() 18 | { 19 | using var robot = await Robot.NewConnection(); 20 | 21 | robot.Events.FeatureStatus += (sender, e) => 22 | { 23 | Console.WriteLine($"FeatureStatus: intent {e.FeatureName}"); 24 | Console.WriteLine(e.Source); 25 | }; 26 | 27 | Console.WriteLine("Vector is waiting for a voice command like 'Hey Vector! What time is it?' Press any key to exit..."); 28 | await Task.Run(() => Console.ReadKey(true)); 29 | } 30 | } 31 | } 32 | -------------------------------------------------------------------------------- /Tutorial_16_FeatureStatus/Tutorial_16_FeatureStatus.csproj: -------------------------------------------------------------------------------- 1 |  2 | 3 | 4 | Exe 5 | netcoreapp3.0 6 | false 7 | false 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /Tutorial_17_AppIntent/Program.cs: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2019 Wayne Venables. All rights reserved. 3 | // 4 | 5 | using System; 6 | using System.Collections.Generic; 7 | using System.Threading.Tasks; 8 | using Anki.Vector; 9 | 10 | namespace Tutorial_17_AppIntent 11 | { 12 | class Program 13 | { 14 | /// 15 | /// Inject an intent into Vector's AI 16 | /// 17 | static async Task Main() 18 | { 19 | using var robot = await Robot.NewConnection(); 20 | 21 | Console.WriteLine($"Asked Vector to go to sleep..."); 22 | await robot.Behavior.Sleep(); 23 | 24 | Console.WriteLine("Press any key to exit..."); 25 | await Task.Run(() => Console.ReadKey(true)); 26 | } 27 | } 28 | } 29 | -------------------------------------------------------------------------------- /Tutorial_17_AppIntent/Tutorial_17_AppIntent.csproj: -------------------------------------------------------------------------------- 1 |  2 | 3 | 4 | Exe 5 | netcoreapp3.0 6 | false 7 | false 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | -------------------------------------------------------------------------------- /Tutorial_18_XboxDrive/Program.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using System.Threading; 3 | using System.Threading.Tasks; 4 | using Anki.Vector; 5 | using Anki.Vector.Types; 6 | 7 | namespace Tutorial_18_XboxDrive 8 | { 9 | class Program 10 | { 11 | /// 12 | /// This is held here so that it doesn't get garbage collected 13 | /// 14 | static Task taskXboxController; 15 | 16 | /// 17 | /// Make Vector drive around based on an Xbox controller 18 | /// 19 | /// 20 | public static async Task Main() 21 | { 22 | // Create a new connection to the first configured Vector 23 | using var robot = await Robot.NewConnection(); 24 | 25 | Console.WriteLine("Requesting control of Vector..."); 26 | await robot.Control.RequestControl(); 27 | 28 | // If Vector is on the charger, drive him off the charger 29 | if (robot.Status.IsOnCharger) 30 | { 31 | Console.WriteLine("Drive Vector off charger..."); 32 | await robot.Behavior.DriveOffCharger(); 33 | } 34 | 35 | // Create a task that will receive input from the game controller 36 | taskXboxController = new Task(() => 37 | { 38 |                 // Enable the game controller 39 |                 XBoxController.XInputEnable(true); 40 | 41 |                 // a structure to hold the state of the game controller 42 |                 XBoxController.XInputState state = new XBoxController.XInputState(); 43 | 44 | int prevPacketNumber = 0; 45 | for (; ; ) 46 | { 47 |                     // try to get input; if no game controller, it will error out 48 |                     var err = XBoxController.XInputGetState(0, ref state); 49 | if (0 != err) 50 | { 51 |                         Thread.Sleep(500); 52 | continue; 53 | } 54 | 55 |                     // skip if the packet number has not changed 56 |                     // (this is unlikely to be needed code) 57 |                     if (prevPacketNumber == state.PacketNumber) 58 | { 59 |                         Thread.Sleep(100); 60 | continue; 61 | } 62 | 63 | // Save the packet number 64 |                     prevPacketNumber = state.PacketNumber; 65 | 66 | // Get the left-right percentage and use that for an angle 67 | var turnAngle = state.Gamepad.sThumbRX *-90.0/ 32768.0; 68 | var turnAngle2 = turnAngle * turnAngle; 69 | if (turnAngle2 > 10.0) 70 | { 71 | // Send a command to turn by that amount 72 | robot.Behavior.TurnInPlace(((float)turnAngle).Degrees()); 73 | } 74 | 75 | // Get the forward/back amount 76 | var fwd = state.Gamepad.sThumbRY * 200.0 / 32768.0; 77 | var fwd2 = fwd * fwd; 78 | if (fwd2 > 10.0) 79 | { 80 | robot.Behavior.DriveStraight((float) fwd, 50); 81 | } 82 | } 83 | }); 84 | // Start communicating 85 |             taskXboxController.Start(); 86 | 87 | Console.WriteLine("Press any key to exit..."); 88 | await Task.Run(() => Console.ReadKey(true)); 89 | } 90 | } 91 | } 92 | -------------------------------------------------------------------------------- /Tutorial_18_XboxDrive/Tutorial_18_XboxDrive.csproj: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | Exe 5 | netcoreapp3.0 6 | false 7 | false 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /Tutorial_18_XboxDrive/XBoxController.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using System.Runtime.InteropServices; 3 | 4 | public partial class XBoxController 5 | { 6 | // Uncomment to support whichever version of the dll you have 7 | // [DllImport("xinput1_3.dll")] 8 | [DllImport("xinput1_4.dll")] 9 | public static extern void XInputEnable([MarshalAs(UnmanagedType.U1)] bool enable); 10 | 11 | [StructLayout(LayoutKind.Explicit)] 12 | public struct XInputGamepad 13 | { 14 | [MarshalAs(UnmanagedType.I2)] 15 | [FieldOffset(0)] 16 | public short wButtons; 17 | 18 | [MarshalAs(UnmanagedType.I1)] 19 | [FieldOffset(2)] 20 | public byte bLeftTrigger; 21 | 22 | [MarshalAs(UnmanagedType.I1)] 23 | [FieldOffset(3)] 24 | public byte bRightTrigger; 25 | 26 | [MarshalAs(UnmanagedType.I2)] 27 | [FieldOffset(4)] 28 | public short sThumbLX; 29 | 30 | [MarshalAs(UnmanagedType.I2)] 31 | [FieldOffset(6)] 32 | public short sThumbLY; 33 | 34 | [MarshalAs(UnmanagedType.I2)] 35 | [FieldOffset(8)] 36 | public short sThumbRX; 37 | 38 | [MarshalAs(UnmanagedType.I2)] 39 | [FieldOffset(10)] 40 | public short sThumbRY; 41 | }; 42 | 43 | [StructLayout(LayoutKind.Explicit)] 44 | public struct XInputState 45 | { 46 | [FieldOffset(0)] 47 | public int PacketNumber; 48 | 49 | [FieldOffset(4)] 50 | public XInputGamepad Gamepad; 51 | } 52 | 53 | // Uncomment to support whichever version of the dll you have 54 | // [DllImport("xinput1_3.dll")] 55 | [DllImport("xinput1_4.dll")] 56 | public static extern int XInputGetState 57 | ( 58 | int dwUserIndex, // [in] Index of the gamer associated with the device 59 | ref XInputState state // [out] Receives the current state 60 | ); 61 | 62 | [StructLayout(LayoutKind.Sequential)] 63 | public struct XInputVibration 64 | { 65 | [MarshalAs(UnmanagedType.I2)] 66 | public ushort LeftMotorSpeed; 67 | 68 | [MarshalAs(UnmanagedType.I2)] 69 | public ushort RightMotorSpeed; 70 | } 71 | 72 | // Uncomment to support whichever version of the dll you have 73 | // [DllImport("xinput1_3.dll")] 74 | [DllImport("xinput1_4.dll")] 75 | public static extern int XInputSetState 76 | ( 77 | int dwUserIndex, // [in] Index of the gamer associated with the device 78 | ref XInputVibration pVibration // [in, out] The vibration information to send to the controller 79 | ); 80 | } 81 | -------------------------------------------------------------------------------- /VectorConfigure/AddCommand.cs: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2019 Wayne Venables. All rights reserved. 3 | // 4 | 5 | using System; 6 | using System.Net; 7 | using System.Threading.Tasks; 8 | using Anki.Vector; 9 | using Anki.Vector.Exceptions; 10 | using CommandLine; 11 | 12 | namespace VectorConfigure 13 | { 14 | /// 15 | /// Command to add new robot configuration to the SDK 16 | /// 17 | [Verb("add", HelpText = "Add a new robot configuration to the SDK.")] 18 | public class AddCommand 19 | { 20 | /// 21 | /// The robot configuration to build 22 | /// 23 | private readonly RobotConfiguration robot = new RobotConfiguration(); 24 | 25 | /// 26 | /// Gets or sets the name of the robot. 27 | /// 28 | [Option('n', "name", HelpText = "The robot name (ex. Vector-A1B2).")] 29 | public string RobotName { get; set; } 30 | 31 | /// 32 | /// Gets or sets the serial number. 33 | /// 34 | [Option('s', "serial", HelpText = "The robot serial number (ex. 00e20100).")] 35 | public string SerialNumber { get; set; } 36 | 37 | /// 38 | /// Gets or sets the email. 39 | /// 40 | [Option('e', "email", HelpText = "The email used by your Anki account.")] 41 | public string Email { get; set; } 42 | 43 | /// 44 | /// Gets or sets the ip address string. 45 | /// 46 | [Option('i', "ip", HelpText = "The robot IP address (ex. 192.168.42.42).")] 47 | public string IPString { get; set; } 48 | 49 | /// 50 | /// Runs this instance. 51 | /// 52 | /// Return code for the command 53 | public int Run() 54 | { 55 | Program.DisplayHeader(); 56 | Program.WriteLineWordWrap("Vector requires all requests be authorized by an authenticated Anki user. This application will enable this device to authenticate with your Vector robot for use with a Vector SDK program."); 57 | Console.WriteLine(); 58 | if (!AddSerialNumberAndCertificate()) return -1; 59 | if (!AddRobotName()) return -1; 60 | if (!AddIPAddress()) return -1; 61 | if (!AddGuid()) return -1; 62 | 63 | RobotConfiguration.AddOrUpdate(robot); 64 | Console.WriteLine("Success."); 65 | return 0; 66 | } 67 | 68 | /// 69 | /// Adds the serial number and certificate. 70 | /// 71 | /// True if successful 72 | private bool AddSerialNumberAndCertificate() 73 | { 74 | string serialNumber = SerialNumber; 75 | bool useInput = string.IsNullOrEmpty(SerialNumber); 76 | 77 | if (useInput) 78 | { 79 | Program.WriteLineWordWrap("Please find your robot serial number (ex. 00e20100) located on the underside of Vector, or accessible from Vector's debug screen."); 80 | Console.WriteLine(); 81 | } 82 | 83 | while (true) 84 | { 85 | // If using input, request from user 86 | if (useInput) 87 | { 88 | Console.Write("Enter robot serial number: "); 89 | serialNumber = Console.ReadLine(); 90 | if (serialNumber == null) return false; 91 | } 92 | // Verify serial number is in correct format 93 | if (!Authentication.SerialNumberIsValid(serialNumber)) 94 | { 95 | Console.WriteLine("Serial number is not in the correct format (ex. 00e20100)."); 96 | Console.WriteLine(); 97 | if (useInput) continue; 98 | return false; 99 | } 100 | // Update the robot serial number 101 | robot.SerialNumber = serialNumber; 102 | // Attempt to get certificate. 103 | try 104 | { 105 | Console.WriteLine("Retreiving Vector's security certificate from Anki's servers..."); 106 | robot.Certificate = GetResult(Authentication.GetCertificate(robot.SerialNumber)); 107 | } 108 | catch (VectorAuthenticationException ex) 109 | { 110 | Console.WriteLine("Error: " + ex.Message); 111 | Console.WriteLine(); 112 | if (useInput) continue; 113 | return false; 114 | } 115 | return true; 116 | } 117 | } 118 | 119 | /// 120 | /// Adds the name of the robot. 121 | /// 122 | /// True if successful 123 | private bool AddRobotName() 124 | { 125 | string robotName = RobotName; 126 | bool useInput = string.IsNullOrEmpty(robotName); 127 | if (useInput) 128 | { 129 | Program.WriteLineWordWrap("Find your robot name (ex. Vector-A1B2) by placing Vector on the charger and double-clicking Vector's backpack button."); 130 | Console.WriteLine(); 131 | } 132 | 133 | while (true) 134 | { 135 | // If using input, request from user 136 | if (useInput) 137 | { 138 | Console.Write("Enter robot name: "); 139 | robotName = Console.ReadLine(); 140 | if (robotName == null) return false; 141 | } 142 | robotName = Authentication.StandardizeRobotName(robotName); 143 | // Verify serial number is in correct format 144 | if (!Authentication.RobotNameIsValid(robotName)) 145 | { 146 | Console.WriteLine("Robot name is not in the correct format. (ex. Vector-A1B2)."); 147 | Console.WriteLine(); 148 | if (useInput) continue; 149 | return false; 150 | } 151 | // Update the robot name 152 | robot.RobotName = robotName; 153 | return true; 154 | } 155 | } 156 | 157 | /// 158 | /// Adds the ip address. 159 | /// 160 | /// True if successful 161 | private bool AddIPAddress() 162 | { 163 | string ipString = IPString; 164 | bool useInput = string.IsNullOrEmpty(ipString); 165 | IPAddress ipAddress; 166 | if (useInput) 167 | { 168 | Console.WriteLine("Attempting to determine your Vector's IP address automatically..."); 169 | ipAddress = GetResult(Authentication.FindRobotAddress(robot.RobotName)); 170 | if (ipAddress != null) 171 | { 172 | Console.WriteLine($"Found Vector at {ipAddress}"); 173 | Console.WriteLine(); 174 | robot.IPAddress = ipAddress; 175 | return true; 176 | } 177 | Program.WriteLineWordWrap("Find your robot ip address (ex. 192.168.42.12) by placing Vector on the charger, double-clicking Vector's backpack button, then raising and lowering his arms. If you see XX.XX.XX.XX on his face, reconnect Vector to your WiFi using the Vector Companion App."); 178 | Console.WriteLine(); 179 | } 180 | 181 | while (true) 182 | { 183 | // If using input, request from user 184 | if (useInput) 185 | { 186 | Console.Write("Enter robot ip: "); 187 | ipString = Console.ReadLine(); 188 | if (ipString == null) return false; 189 | } 190 | if (!IPAddress.TryParse(ipString, out ipAddress)) 191 | { 192 | Program.WriteLineWordWrap("IP Address is not in the correct format. It must be 4 numbers separated by dots (ex. 192.168.42.12)."); 193 | Console.WriteLine(); 194 | if (useInput) continue; 195 | return false; 196 | } 197 | 198 | robot.IPAddress = ipAddress; 199 | return true; 200 | } 201 | } 202 | 203 | /// 204 | /// Adds the unique identifier. 205 | /// 206 | /// True if successful 207 | private bool AddGuid() 208 | { 209 | string email = Email; 210 | bool useInput = string.IsNullOrEmpty(email); 211 | if (useInput) 212 | { 213 | Program.WriteLineWordWrap("Enter your email and password. Make sure to use the same account that was used to set up your Vector on the companion app."); 214 | Console.WriteLine(); 215 | } 216 | 217 | while (true) 218 | { 219 | // If using input, request from user 220 | if (useInput) 221 | { 222 | Console.Write("Enter email: "); 223 | email = Console.ReadLine(); 224 | if (email == null) return false; 225 | } 226 | Console.Write("Enter password: "); 227 | string password = Program.ReadPassword(); 228 | if (string.IsNullOrWhiteSpace(password)) continue; 229 | Console.WriteLine(); 230 | Console.WriteLine("Authenticating with Anki's servers..."); 231 | try 232 | { 233 | var sessionId = GetResult(Authentication.GetSessionToken(email, password)); 234 | robot.Guid = GetResult(Authentication.GetTokenGuid(sessionId, robot.Certificate, robot.RobotName, robot.IPAddress)); 235 | } 236 | catch (VectorAuthenticationException ex) 237 | { 238 | Console.WriteLine("Error: " + ex.Message); 239 | Console.WriteLine(); 240 | useInput = true; 241 | continue; 242 | } 243 | return true; 244 | } 245 | } 246 | 247 | /// 248 | /// Gets the result of a task and unpacks aggregate exceptions 249 | /// 250 | /// The result type. 251 | /// The task. 252 | /// A task that represents the asynchronous operation; the task result contains the result of the command. 253 | private static T GetResult(Task task) 254 | { 255 | try 256 | { 257 | return task.Result; 258 | } 259 | catch (AggregateException ex) 260 | { 261 | if (ex.InnerException is VectorAuthenticationException) throw ex.InnerException; 262 | throw; 263 | } 264 | } 265 | } 266 | } 267 | -------------------------------------------------------------------------------- /VectorConfigure/DeleteCommand.cs: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2019 Wayne Venables. All rights reserved. 3 | // 4 | 5 | using System; 6 | using System.Linq; 7 | using Anki.Vector; 8 | using CommandLine; 9 | 10 | namespace VectorConfigure 11 | { 12 | /// 13 | /// Command to delete a robot configuration. 14 | /// 15 | [Verb("delete", HelpText = "Delete a robot configuration.")] 16 | public class DeleteCommand 17 | { 18 | /// 19 | /// Gets or sets the robot name or serial number. 20 | /// 21 | [Value(0, HelpText = "Robot name or serial number to delete", Required = true, MetaName = "Name or Serial")] 22 | public string NameOrSerial { get; set; } 23 | 24 | /// 25 | /// Runs this command. 26 | /// 27 | /// Return code for the command 28 | public int Run() 29 | { 30 | Program.DisplayHeader(); 31 | var robots = RobotConfiguration.Load().ToList(); 32 | if (robots.Count == 0) 33 | { 34 | Console.WriteLine("There are no Vector robots configured."); 35 | return -1; 36 | } 37 | 38 | string robotName = Authentication.StandardizeRobotName(NameOrSerial); 39 | string serial = NameOrSerial.ToLower(); 40 | 41 | var robot = robots.FirstOrDefault(r => r.RobotName == robotName || r.SerialNumber.ToLower() == serial); 42 | if (robot == null) 43 | { 44 | Console.WriteLine($"Robot '{NameOrSerial}' was not found."); 45 | return -1; 46 | } 47 | robots.RemoveAt(robots.IndexOf(robot)); 48 | RobotConfiguration.Save(robots); 49 | Console.WriteLine($"Removed {robot.RobotName} ({robot.SerialNumber})."); 50 | return 0; 51 | } 52 | } 53 | } 54 | -------------------------------------------------------------------------------- /VectorConfigure/ListCommand.cs: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2019 Wayne Venables. All rights reserved. 3 | // 4 | 5 | using System; 6 | using System.Collections.Generic; 7 | using System.Linq; 8 | using Anki.Vector; 9 | using CommandLine; 10 | 11 | namespace VectorConfigure 12 | { 13 | /// 14 | /// Command to list all the configured robots. 15 | /// 16 | [Verb("list", HelpText = "List all the configured robots.")] 17 | public class ListCommand 18 | { 19 | /// 20 | /// Gets or sets a value indicating whether the results of this are verbose. 21 | /// 22 | [Option(HelpText = "Display verbose information about configured robots.")] 23 | public bool Verbose { get; set; } 24 | 25 | /// 26 | /// Runs this command. 27 | /// 28 | /// Return code for the command 29 | public int Run() 30 | { 31 | Program.DisplayHeader(); 32 | var robots = RobotConfiguration.Load().ToList(); 33 | if (robots.Count == 0) 34 | { 35 | Console.WriteLine("There are no Vector robots configured."); 36 | return 0; 37 | } 38 | 39 | Console.WriteLine("Configured Vector Robots:"); 40 | if (Verbose) DisplayRobotsVerbose(robots); 41 | else DisplayRobotsNormal(robots); 42 | return 0; 43 | } 44 | 45 | /// 46 | /// Displays the robot normally. 47 | /// 48 | /// The robots. 49 | private void DisplayRobotsNormal(IEnumerable robots) 50 | { 51 | foreach (var robot in robots) 52 | { 53 | Console.WriteLine($" {robot.RobotName} ({robot.SerialNumber})"); 54 | } 55 | } 56 | 57 | /// 58 | /// Displays the robots verbose. 59 | /// 60 | /// The robots. 61 | private void DisplayRobotsVerbose(IEnumerable robots) 62 | { 63 | foreach (var robot in robots) 64 | { 65 | Console.WriteLine(); 66 | Console.WriteLine($" Robot Name: {robot.RobotName}"); 67 | Console.WriteLine($"Serial Number: {robot.SerialNumber}"); 68 | Console.WriteLine($" IP Address: {robot.IPAddress}"); 69 | Console.WriteLine($" GUID: {robot.Guid}"); 70 | Console.WriteLine($"{robot.Certificate}"); 71 | } 72 | } 73 | } 74 | } 75 | -------------------------------------------------------------------------------- /VectorConfigure/Program.cs: -------------------------------------------------------------------------------- 1 | // 2 | // Copyright (c) 2019 Wayne Venables. All rights reserved. 3 | // 4 | 5 | using System; 6 | using System.Collections.Generic; 7 | using CommandLine; 8 | 9 | namespace VectorConfigure 10 | { 11 | public static class Program 12 | { 13 | /// 14 | /// Mains the specified arguments. 15 | /// 16 | /// The arguments. 17 | /// Return code from the command 18 | public static int Main(string[] args) 19 | { 20 | Console.CancelKeyPress += (sender, e) => 21 | { 22 | Environment.Exit(-1); 23 | }; 24 | 25 | var result = Parser.Default.ParseArguments(args); 26 | return result.MapResult( 27 | (ListCommand list) => ((ListCommand)list).Run(), 28 | (AddCommand add) => ((AddCommand)add).Run(), 29 | (DeleteCommand delete) => ((DeleteCommand)delete).Run(), 30 | errs => 1); 31 | } 32 | 33 | /// 34 | /// Reads the password. 35 | /// 36 | /// The password 37 | public static string ReadPassword() 38 | { 39 | string pass = string.Empty; 40 | do 41 | { 42 | ConsoleKeyInfo key = Console.ReadKey(true); 43 | // Backspace Should Not Work 44 | if (key.Key != ConsoleKey.Backspace && key.Key != ConsoleKey.Enter) 45 | { 46 | pass += key.KeyChar; 47 | Console.Write("*"); 48 | } 49 | else 50 | { 51 | if (key.Key == ConsoleKey.Backspace && pass.Length > 0) 52 | { 53 | pass = pass.Substring(0, pass.Length - 1); 54 | Console.Write("\b \b"); 55 | } 56 | else if (key.Key == ConsoleKey.Enter) 57 | { 58 | Console.WriteLine(); 59 | break; 60 | } 61 | } 62 | } 63 | while (true); 64 | return pass; 65 | } 66 | 67 | /// 68 | /// Writes the line word wrap. 69 | /// 70 | /// The paragraph. 71 | /// Size of the tab. 72 | public static void WriteLineWordWrap(string paragraph, int tabSize = 8) 73 | { 74 | if (string.IsNullOrEmpty(paragraph)) return; 75 | 76 | string[] lines = paragraph 77 | .Replace("\t", new string(' ', tabSize)) 78 | .Split(new string[] { Environment.NewLine }, StringSplitOptions.None); 79 | 80 | for (int i = 0; i < lines.Length; i++) 81 | { 82 | string process = lines[i]; 83 | List wrapped = new List(); 84 | 85 | while (process.Length > Console.WindowWidth) 86 | { 87 | int wrapAt = process.LastIndexOf(' ', Math.Min(Console.WindowWidth - 1, process.Length)); 88 | if (wrapAt <= 0) break; 89 | 90 | wrapped.Add(process.Substring(0, wrapAt)); 91 | process = process.Remove(0, wrapAt + 1); 92 | } 93 | 94 | foreach (string wrap in wrapped) 95 | { 96 | Console.WriteLine(wrap); 97 | } 98 | 99 | Console.WriteLine(process); 100 | } 101 | } 102 | 103 | /// 104 | /// Displays the header. 105 | /// 106 | public static void DisplayHeader() 107 | { 108 | Console.WriteLine(CommandLine.Text.HeadingInfo.Default); 109 | Console.WriteLine(CommandLine.Text.CopyrightInfo.Default); 110 | Console.WriteLine(); 111 | } 112 | } 113 | } 114 | -------------------------------------------------------------------------------- /VectorConfigure/Settings.StyleCop: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | anki 5 | anki's 6 | bytepair 7 | deg 8 | ip 9 | nav 10 | navmap 11 | png 12 | rgb 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | False 21 | 22 | 23 | 24 | 25 | False 26 | 27 | 28 | 29 | 30 | False 31 | 32 | 33 | 34 | 35 | False 36 | 37 | 38 | 39 | 40 | False 41 | 42 | 43 | 44 | 45 | False 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | False 56 | 57 | 58 | 59 | 60 | False 61 | 62 | 63 | 64 | 65 | False 66 | 67 | 68 | 69 | 70 | False 71 | 72 | 73 | 74 | 75 | False 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | False 86 | 87 | 88 | 89 | 90 | False 91 | 92 | 93 | 94 | 95 | False 96 | 97 | 98 | 99 | 100 | False 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | False 111 | 112 | 113 | 114 | 115 | False 116 | 117 | 118 | 119 | 120 | False 121 | 122 | 123 | 124 | 125 | False 126 | 127 | 128 | 129 | 130 | 131 | 132 | 133 | 134 | 135 | False 136 | 137 | 138 | 139 | 140 | 141 | 142 | 143 | 144 | 145 | False 146 | 147 | 148 | 149 | 150 | 151 | 152 | 153 | 154 | 155 | False 156 | 157 | 158 | 159 | 160 | 161 | up 162 | 163 | 164 | 165 | 166 | -------------------------------------------------------------------------------- /VectorConfigure/VectorConfigure.csproj: -------------------------------------------------------------------------------- 1 |  2 | 3 | 4 | Exe 5 | netcoreapp3.0 6 | Wayne Venables 7 | Codaris Consulting 8 | Anki.Vector.SDK.Configure 9 | Anki Vector SDK Configure 10 | Copyright (c) 2019 Wayne Venables 11 | 12 | win10-x64 13 | true 14 | 15 | false 16 | false 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | --------------------------------------------------------------------------------