/// <summary>
/// Checks if the given driver type is a worm screw.
/// </summary>
/// <param name="type">Driver type</param>
/// <returns>Boolean</returns>
public static bool IsWormScrew(this JointDriverType type)
{
switch (type)
{
case JointDriverType.WORM_SCREW:
return(true);
default:
return(false);
}
}
/// <summary>
/// Checks if the given driver type is pneumatic.
/// </summary>
/// <param name="type">Driver type</param>
/// <returns>Boolean</returns>
public static bool IsPneumatic(this JointDriverType type)
{
switch (type)
{
case JointDriverType.BUMPER_PNEUMATIC:
case JointDriverType.RELAY_PNEUMATIC:
return(true);
default:
return(false);
}
}
/// <summary>
/// Checks if the given driver type is a motor.
/// </summary>
/// <param name="type">Driver type</param>
/// <returns>Boolean</returns>
public static bool IsMotor(this JointDriverType type)
{
switch (type)
{
case JointDriverType.MOTOR:
case JointDriverType.DUAL_MOTOR:
return(true);
default:
return(false);
}
}
/// <summary>
/// Reads the binary representation of this driver from the stream.
/// </summary>
/// <param name="reader">Input stream</param>
public void ReadBinaryData(System.IO.BinaryReader reader)
{
type = (JointDriverType)((int)reader.ReadByte());
port1 = reader.ReadInt16();
port2 = reader.ReadInt16();
lowerLimit = reader.ReadSingle();
upperLimit = reader.ReadSingle();
isCan = reader.ReadBoolean();
int extensions = reader.ReadInt32();
MetaInfo.Clear();
for (int i = 0; i < extensions; i++)
{
JointDriverMeta meta = JointDriverMeta.ReadDriverMeta(reader);
AddInfo(meta);
}
}
/// <summary>
/// Gets the string representation of the port for the given driver type.
/// </summary>
/// <param name="type">Driver type</param>
/// <returns>Name of port type</returns>
public static string GetPortType(this JointDriverType type)
{
switch (type)
{
case JointDriverType.MOTOR:
case JointDriverType.SERVO:
case JointDriverType.DUAL_MOTOR:
case JointDriverType.WORM_SCREW:
case JointDriverType.ELEVATOR:
return("PWM");
case JointDriverType.BUMPER_PNEUMATIC:
return("Solenoid");
case JointDriverType.RELAY_PNEUMATIC:
return("Relay");
default:
return("Unknown");
}
}
public static bool IsElevator(this JointDriverType type)
{
return(type == JointDriverType.ELEVATOR);
}
/// <summary>
/// Checks if the given driver type requires two ports.
/// </summary>
/// <param name="type">Driver type</param>
/// <returns>True is the given type requires two ports</returns>
public static bool HasTwoPorts(this JointDriverType type)
{
return(type == JointDriverType.BUMPER_PNEUMATIC || type == JointDriverType.DUAL_MOTOR);
}
/// <summary>
/// Creates a joint driver with the given type.
/// </summary>
/// <param name="type">Driver type</param>
public JointDriver(JointDriverType type)
: this()
{
this.type = type;
}
/// <summary>
/// Saves all the data from the DriveChooser frame to be used elsewhere in the program. Also begins calculation of wheel radius.
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void SaveButton_Click(object sender, EventArgs e)
{
bool canClose = true;
if (!ShouldSave())
{
Close();
return;
}
if (cmbJointDriver.SelectedIndex <= 0)
{
joint.cDriver = null;
}
else
{
JointDriverType cType = typeOptions[cmbJointDriver.SelectedIndex - 1];
double inputGear = 1, outputGear = 1;
inputGear = (double)InputGeartxt.Value;
outputGear = (double)OutputGeartxt.Value;// tries to parse the double from the output gear
joint.cDriver = new JointDriver(cType)
{
port1 = (int)txtPort1.Value,
port2 = (int)txtPort2.Value,
InputGear = inputGear, // writes the input gear to the internal joint driver so it can be exported
OutputGear = outputGear, // writes the output gear to the internal joint driver so it can be exported
lowerLimit = (float)txtLowLimit.Value,
upperLimit = (float)txtHighLimit.Value,
isCan = rbCAN.Checked,
hasBrake = chkBoxHasBrake.Checked
};
//Only need to store wheel driver if run by motor and is a wheel.
if (cType.IsMotor() && (WheelType)cmbWheelType.SelectedIndex != WheelType.NOT_A_WHEEL)
{
#region WHEEL_SAVING
WheelDriverMeta wheelDriver = new WheelDriverMeta()
{
type = (WheelType)cmbWheelType.SelectedIndex,
isDriveWheel = chkBoxDriveWheel.Checked
}; //The info about the wheel attached to the joint.
//TODO: Find real values that make sense for the friction. Also add Mecanum wheels.
wheelDriver.SetFrictionLevel((FrictionLevel)cmbFrictionLevel.SelectedIndex);
joint.cDriver.AddInfo(wheelDriver);
#endregion
}
else
{
joint.cDriver.RemoveInfo <WheelDriverMeta>();
}
if (cType.IsPneumatic())
{
#region PNEUMATIC_SAVING
PneumaticDriverMeta pneumaticDriver = new PneumaticDriverMeta()
{
pressureEnum = (PneumaticPressure)cmbPneumaticPressure.SelectedIndex,
widthEnum = (PneumaticDiameter)cmbPneumaticDiameter.SelectedIndex
}; //The info about the wheel attached to the joint.
joint.cDriver.AddInfo(pneumaticDriver);
#endregion
}
else
{
joint.cDriver.RemoveInfo <PneumaticDriverMeta>();
}
if (cType.IsElevator())
{
#region ELEVATOR_SAVING
ElevatorDriverMeta elevatorDriver = new ElevatorDriverMeta()
{
type = ElevatorType.NOT_MULTI
};
joint.cDriver.AddInfo(elevatorDriver);
#endregion
}
else
{
joint.cDriver.RemoveInfo <ElevatorDriverMeta>();
}
}
if (nodes.Count > 1)
{
foreach (RigidNode_Base node in nodes)
{
if (joint.cDriver == null)
{
node.GetSkeletalJoint().cDriver = null;
}
else
{
JointDriver driver = new JointDriver(joint.cDriver.GetDriveType())
{
port1 = joint.cDriver.port1,
port2 = joint.cDriver.port2,
isCan = joint.cDriver.isCan,
OutputGear = joint.cDriver.OutputGear,
InputGear = joint.cDriver.InputGear,
lowerLimit = joint.cDriver.lowerLimit,
upperLimit = joint.cDriver.upperLimit
};
joint.cDriver.CopyMetaInfo(driver);
node.GetSkeletalJoint().cDriver = driver;
}
}
}
if (canClose)// make sure there are no outstanding issues for the user to fix before we save
{
Saved = true;
LegacyInterchange.LegacyEvents.OnRobotModified();
Close();
}
}
/// <summary>
/// Saves all the data from the DriveChooser frame to be used elsewhere in the program. Also begins calculation of wheel radius.
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btnSave_Click(object sender, EventArgs e)
{
if (!shouldSave())
{
Hide();
return;
}
if (cmbJointDriver.SelectedIndex <= 0)
{
joint.cDriver = null;
}
else
{
JointDriverType cType = typeOptions[cmbJointDriver.SelectedIndex - 1];
joint.cDriver = new JointDriver(cType)
{
portA = (int)txtPortA.Value,
portB = (int)txtPortB.Value,
lowerLimit = (float)txtLowLimit.Value,
upperLimit = (float)txtHighLimit.Value,
isCan = rbCAN.Checked
};
//Only need to store wheel driver if run by motor and is a wheel.
if (cType.IsMotor() && (WheelType)cmbWheelType.SelectedIndex != WheelType.NOT_A_WHEEL)
{
#region WHEEL_SAVING
WheelDriverMeta wheelDriver = new WheelDriverMeta()
{
type = (WheelType)cmbWheelType.SelectedIndex,
isDriveWheel = chkBoxDriveWheel.Checked
}; //The info about the wheel attached to the joint.
//TODO: Find real values that make sense for the friction. Also add Mecanum wheels.
switch ((FrictionLevel)cmbFrictionLevel.SelectedIndex)
{
case FrictionLevel.HIGH:
wheelDriver.forwardExtremeSlip = 1; //Speed of max static friction force.
wheelDriver.forwardExtremeValue = 10; //Force of max static friction force.
wheelDriver.forwardAsympSlip = 1.5f; //Speed of leveled off kinetic friction force.
wheelDriver.forwardAsympValue = 8; //Force of leveld off kinetic friction force.
if (wheelDriver.type == WheelType.OMNI) //Set to relatively low friction, as omni wheels can move sidways.
{
wheelDriver.sideExtremeSlip = 1; //Same as above, but orthogonal to the movement of the wheel.
wheelDriver.sideExtremeValue = .01f;
wheelDriver.sideAsympSlip = 1.5f;
wheelDriver.sideAsympValue = .005f;
}
else
{
wheelDriver.sideExtremeSlip = 1;
wheelDriver.sideExtremeValue = 10;
wheelDriver.sideAsympSlip = 1.5f;
wheelDriver.sideAsympValue = 8;
}
break;
case FrictionLevel.MEDIUM:
wheelDriver.forwardExtremeSlip = 1f;
wheelDriver.forwardExtremeValue = 7;
wheelDriver.forwardAsympSlip = 1.5f;
wheelDriver.forwardAsympValue = 5;
if (wheelDriver.type == WheelType.OMNI)
{
wheelDriver.sideExtremeSlip = 1;
wheelDriver.sideExtremeValue = .01f;
wheelDriver.sideAsympSlip = 1.5f;
wheelDriver.sideAsympValue = .005f;
}
else
{
wheelDriver.sideExtremeSlip = 1;
wheelDriver.sideExtremeValue = 7;
wheelDriver.sideAsympSlip = 1.5f;
wheelDriver.sideAsympValue = 5;
}
break;
case FrictionLevel.LOW:
wheelDriver.forwardExtremeSlip = 1;
wheelDriver.forwardExtremeValue = 5;
wheelDriver.forwardAsympSlip = 1.5f;
wheelDriver.forwardAsympValue = 3;
if (wheelDriver.type == WheelType.OMNI)
{
wheelDriver.sideExtremeSlip = 1;
wheelDriver.sideExtremeValue = .01f;
wheelDriver.sideAsympSlip = 1.5f;
wheelDriver.sideAsympValue = .005f;
}
else
{
wheelDriver.sideExtremeSlip = 1;
wheelDriver.sideExtremeValue = 5;
wheelDriver.sideAsympSlip = 1.5f;
wheelDriver.sideAsympValue = 3;
}
break;
}
joint.cDriver.AddInfo(wheelDriver);
#endregion
}
else
{
joint.cDriver.RemoveInfo <WheelDriverMeta>();
}
if (cType.IsPneumatic())
{
#region PNEUMATIC_SAVING
PneumaticDriverMeta pneumaticDriver = new PneumaticDriverMeta()
{
pressureEnum = (PneumaticPressure)cmbPneumaticPressure.SelectedIndex,
widthEnum = (PneumaticDiameter)cmbPneumaticDiameter.SelectedIndex
}; //The info about the wheel attached to the joint.
joint.cDriver.AddInfo(pneumaticDriver);
#endregion
}
else
{
joint.cDriver.RemoveInfo <PneumaticDriverMeta>();
}
if (cType.IsElevator())
{
#region ELEVATOR_SAVING
ElevatorDriverMeta elevatorDriver = new ElevatorDriverMeta()
{
type = (ElevatorType)cmbStages.SelectedIndex
};
joint.cDriver.AddInfo(elevatorDriver);
#endregion
}
else
{
joint.cDriver.RemoveInfo <ElevatorDriverMeta>();
}
}
if (nodes.Count > 1)
{
foreach (RigidNode_Base node in nodes)
{
if (joint.cDriver == null)
{
node.GetSkeletalJoint().cDriver = null;
}
else
{
JointDriver driver = new JointDriver(joint.cDriver.GetDriveType())
{
portA = joint.cDriver.portA,
portB = joint.cDriver.portB,
isCan = joint.cDriver.isCan,
lowerLimit = joint.cDriver.lowerLimit,
upperLimit = joint.cDriver.upperLimit
};
joint.cDriver.CopyMetaInfo(driver);
node.GetSkeletalJoint().cDriver = driver;
}
}
}
Saved = true;
Hide();
}
/// <summary>
/// Changes the position of window elements based on the type of driver.
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
void DriveChooser_Layout(object sender, LayoutEventArgs e)
{
chkBoxDriveWheel.Hide();
chkBoxHasBrake.Hide();
rbCAN.Hide();
rbPWM.Hide();
if (cmbJointDriver.SelectedIndex <= 0) //If the joint is not driven
{
grpDriveOptions.Visible = false;
tabsMeta.TabPages.Clear();
}
else
{
JointDriverType cType = typeOptions[cmbJointDriver.SelectedIndex - 1];
lblPort.Text = cType.GetPortType() + " Port" + (cType.HasTwoPorts() ? "s" : "");
txtPortB.Visible = cType.HasTwoPorts();
txtPortA.Maximum = txtPortB.Maximum = cType.GetPortMax();
grpDriveOptions.Visible = true;
if (cType.IsMotor())
{
tabsMeta.Visible = true;
tabsMeta.TabPages.Clear();
tabsMeta.TabPages.Add(metaWheel);
tabsMeta.TabPages.Add(metaGearing);
chkBoxDriveWheel.Show();
rbCAN.Show();
rbPWM.Show();
rbPWM.Checked = true;
}
else if (cType.IsPneumatic())
{
tabsMeta.Visible = true;
tabsMeta.TabPages.Clear();
tabsMeta.TabPages.Add(metaPneumatic);
}
else if (cType.IsElevator())
{
tabsMeta.Visible = true;
lblBrakePort.Enabled = false;
brakePortA.Enabled = false;
brakePortB.Enabled = false;
tabsMeta.TabPages.Clear();
chkBoxHasBrake.Show();
tabsMeta.TabPages.Add(metaElevatorBrake);
tabsMeta.TabPages.Add(metaElevatorStages);
tabsMeta.TabPages.Add(metaGearing);
if (cmbStages.SelectedIndex == -1)
{
cmbStages.SelectedIndex = 0;
}
}
else
{
tabsMeta.TabPages.Clear();
tabsMeta.Visible = false;
}
}
// Set window size
tabsMeta.Visible = tabsMeta.TabPages.Count > 0;
btnSave.Top = tabsMeta.TabPages.Count > 0 ? tabsMeta.Bottom + 3 : (grpDriveOptions.Visible ? grpDriveOptions.Bottom + 3 : grpChooseDriver.Bottom + 3);
base.Height = btnSave.Bottom + 3 + (base.Height - base.ClientSize.Height);
}