public static void Main()
{
ILogger logger = new MqttLogger();
GpioController gpioController;
try {
gpioController = new GpioController();
logger.Warn("IO Enabled.");
} catch (NotSupportedException) {
gpioController = null;
logger.Warn("No GPIO. IO Disabled");
}
IFileSystem fileSystem = new FileSystem();
RobotConfig configs = RobotConfig.LoadFile(Internal.CONFIG_FILE_NAME, fileSystem, m => logger.Info(m)).GetAwaiter().GetResult();
logger.MinLevel = CalculateLoggingLevelFromConfigs(configs, LoggingLevel.INFO);
logger.Info($"Set logging level to {logger.MinLevel}");
Robot robot = Robot.CreateInstance(gpioController, configs, logger);
robot.Initialize().Wait();
logger.Info("EllieBot is Fully Operational.");
Console.WriteLine("EllieBot is Operational and Nominal.");
Console.WriteLine("Press any key to exit");
Console.ReadLine();
}
private Robot(ICommandProcessor cmdProcessor, GpioController controller, RobotConfig configs, ILogger logger)
{
this.CommandProcessor = cmdProcessor;
this.Configuration = configs;
this.Logger = logger;
this.GpioController = controller;
}
private void UpdateConfigControls(RobotConfig config)
{
connectionPort.Text = config.Port.ToString();
workspaceLowerX.Text = config.Limits.LowerWorkspacePoint.X.ToString();
workspaceLowerY.Text = config.Limits.LowerWorkspacePoint.Y.ToString();
workspaceLowerZ.Text = config.Limits.LowerWorkspacePoint.Z.ToString();
workspaceUpperX.Text = config.Limits.UpperWorkspacePoint.X.ToString();
workspaceUpperY.Text = config.Limits.UpperWorkspacePoint.Y.ToString();
workspaceUpperZ.Text = config.Limits.UpperWorkspacePoint.Z.ToString();
a1LowerLimit.Text = config.Limits.A1AxisLimit.Min.ToString();
a1UpperLimit.Text = config.Limits.A1AxisLimit.Max.ToString();
a2LowerLimit.Text = config.Limits.A2AxisLimit.Min.ToString();
a2UpperLimit.Text = config.Limits.A2AxisLimit.Max.ToString();
a3LowerLimit.Text = config.Limits.A3AxisLimit.Min.ToString();
a3UpperLimit.Text = config.Limits.A3AxisLimit.Max.ToString();
a4LowerLimit.Text = config.Limits.A4AxisLimit.Min.ToString();
a4UpperLimit.Text = config.Limits.A4AxisLimit.Max.ToString();
a5LowerLimit.Text = config.Limits.A5AxisLimit.Min.ToString();
a5UpperLimit.Text = config.Limits.A5AxisLimit.Max.ToString();
a6LowerLimit.Text = config.Limits.A6AxisLimit.Min.ToString();
a6UpperLimit.Text = config.Limits.A6AxisLimit.Max.ToString();
correctionLimitXYZ.Text = config.Limits.CorrectionLimit.XYZ.ToString();
correctionLimitABC.Text = config.Limits.CorrectionLimit.ABC.ToString();
velocityLimitXYZ.Text = config.Limits.VelocityLimit.XYZ.ToString();
velocityLimitABC.Text = config.Limits.VelocityLimit.ABC.ToString();
accelerationLimitXYZ.Text = config.Limits.AccelerationLimit.XYZ.ToString();
accelerationLimitABC.Text = config.Limits.AccelerationLimit.ABC.ToString();
t00.Text = config.Transformation[0, 0].ToString("F3");
t01.Text = config.Transformation[0, 1].ToString("F3");
t02.Text = config.Transformation[0, 2].ToString("F3");
t03.Text = config.Transformation[0, 3].ToString("F3");
t10.Text = config.Transformation[1, 0].ToString("F3");
t11.Text = config.Transformation[1, 1].ToString("F3");
t12.Text = config.Transformation[1, 2].ToString("F3");
t13.Text = config.Transformation[1, 3].ToString("F3");
t20.Text = config.Transformation[2, 0].ToString("F3");
t21.Text = config.Transformation[2, 1].ToString("F3");
t22.Text = config.Transformation[2, 2].ToString("F3");
t23.Text = config.Transformation[2, 3].ToString("F3");
t30.Text = config.Transformation[3, 0].ToString("F3");
t31.Text = config.Transformation[3, 1].ToString("F3");
t32.Text = config.Transformation[3, 2].ToString("F3");
t33.Text = config.Transformation[3, 3].ToString("F3");
}
public void LoadConfig(string configFile)
{
string jsonString = File.ReadAllText(configFile);
RobotConfig config = new RobotConfig(jsonString);
Robot.Config = config;
UpdateConfigControls(config);
}
internal static Robot CreateInstance(GpioController gpioController, RobotConfig configs, ILogger logger)
{
if (Instance != null)
{
return(Instance);
}
ICommandProcessor commandProcessor = new CommandProcessor(logger);
Instance = new Robot(commandProcessor, gpioController, configs, logger);
return(Instance);
}
void Start()
{
configOptions = new RobotConfig();
if (configOptions.valid) {
Debug.Log ("Options initialised ok");
Network.init();
headProps = new Property();
//variables
int rate = 100;
int[] jntPosMax = new int[]{30,60,55,15,52,90};
int[] jntPosMin = new int[]{-40,-70,-55,-35,-50,0};
int[] error_tol = new int[]{1, 1, 1, 1, 1, 1};
int Type = 3;
int TotalJoints = 6;
int[] axisMap = new int[]{0, 1, 2, 3, 4, 5};
double Vel = 20.0;
double[] Zeros = new double[]{0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
double[] Encoder = new double[]{0.017453, 0.017453, 0.017453, 0.017453, 0.017453, 0.017453};
string partName = "/head";
string device = "controlboardwrapper2";
string subdevice = "simulationcontrol";
//formatting variables into string
string properties = "(ENDINI) (rate " + rate + ") (LIMITS (jntPosMax";
properties += arrToStr(jntPosMax);
properties += ") (jntPosMin";
properties += arrToStr(jntPosMin);
properties +=") (error_tol";
properties += arrToStr(error_tol);
properties += ")) (GENERAL (Type " + Type;
properties += ") (TotalJoints " + TotalJoints;
properties += ") (AxisMap" + arrToStr(axisMap);
properties += ") (Vel " + formatDouble(Vel);
properties += ") (Zeros" + arrToStr(Zeros);
properties += ") (Encoder";
properties += arrToStr(Encoder);
properties += ")) (name " + partName + ") (device "+ device;
properties += ") (subdevice "+ subdevice +")";
Debug.Log(properties);
//initialise properties class with string
headProps.fromString(properties);
}
else
{
Debug.Log("Configuration failed.");
}
}
private static void Main(string[] args)
{
RobotConfig config = LoadConfig("./config.json");
GRPCServer server = config.GrpcServer;
Channel channel = new Channel(String.Format("{0}:{1}", server.Host, server.Port)
, ChannelCredentials.Insecure);
var client = new QQBotClient(new ChatBotHub.ChatBotHubClient(channel));
client.ListenTunnel().Wait();
channel.ShutdownAsync().Wait();
Console.WriteLine("Tunnel stopped; program exit.");
}
public bool OsInitialization()
{
try
{
_robotConfig = _robotSettings.GetEnviromentSettings();
if (_robotConfig == null || _robotConfig.MatrixSize == null || _robotConfig.Position == null)
{
_log.Message(LogLevel.Warn, "Default settings will be applied, Config Settings read error");
_robotConfig = RobotConstantsValues.RobotDefaultCongifs;
}
Console.WriteLine($"Robot {_robotConfig.Name} settings read finish!");
Console.WriteLine($"Start position :---> [{ _robotConfig.Position.X}:{ _robotConfig.Position.Y}:{ _robotConfig.Position.Direction}]");
Console.WriteLine($"Matrix settings :---> [{ _robotConfig.MatrixSize.Max_X_Value}:{ _robotConfig.MatrixSize.Max_Y_Value}]");
RobotCommand command = new RobotCommand
{
QueueId = 0,
Type = RobotCommandType.Initialization,
CurentDirection = _robotConfig.Position.Direction,
MoveTo = new Position
{
X = _robotConfig.Position.X,
Y = _robotConfig.Position.Y,
}
};
var cmdResult = _robotStateMachine.Build(RobotCommandType.Initialization).ProcessState(command, _robotConfig.MatrixSize);
if (cmdResult.isSuccess && cmdResult.stateResponse != null && cmdResult.stateResponse.CurrentPosition != null)
{
_currentPosition = cmdResult.stateResponse.CurrentPosition;
}
_log.Message(LogLevel.Info, cmdResult.isSuccess ? $"{RobotCommandType.Initialization} Success" : $"{RobotCommandType.Initialization} Failure");
return(cmdResult.isSuccess);
}
catch (Exception ex)
{
Console.WriteLine(RobotConstantsValues.CriticalErrorOccuredMissionWillNotContinue);
_log.Exception(ex);
return(false);
}
}
public void MainRobotService_OsInitialization_Failure_When_RobotStateMachine_InitFailure_Result_False()
{
//Arrange
RobotConfig config = new RobotConfig
{
Position = new RobotPosition(),
MatrixSize = new MatrixSize()
};
_robotSettingsMock.Setup(x => x.GetEnviromentSettings()).Returns(config);
_robotStateMachineMock.Setup(x => x.Build(It.IsAny <RobotCommandType>()).ProcessState(It.IsAny <RobotCommand>(), It.IsAny <MatrixSize>())).Returns(DemoResult(false, false));
//Act
bool result = _mainRobotService.OsInitialization();
//Arrange
Assert.False(result);
}
private void SaveConfig(object sender, RoutedEventArgs e)
{
RobotConfig config = CreateConfigurationFromFields();
var saveFileDialog = new Microsoft.Win32.SaveFileDialog {
InitialDirectory = Path.Combine(Directory.GetCurrentDirectory(), App.ConfigDir),
CheckPathExists = true,
FilterIndex = 2,
Title = "Save configuration file",
DefaultExt = "json",
Filter = "JSON files |*.json",
FileName = "robot.config.json"
};
if (saveFileDialog.ShowDialog() == true && saveFileDialog.FileName != "")
{
File.WriteAllText(saveFileDialog.FileName, config.ToJsonString());
}
}
public void Close(JaguarCtrl jc, RobotConfig robotCfg, string configFile)
{
double centerLat = double.Parse(centerLatitude);
double centerLong = double.Parse(centerLongitude);
try
{
centerLat = double.Parse(jc.txtStartLat.Text);
}
catch
{
}
try
{
centerLong = double.Parse(jc.txtStartLong.Text);
}
catch
{
}
jc.jaguarSetting.GoogleEarthStartLat = centerLat;
jc.jaguarSetting.GoogleEarthStartLong = centerLong;
try
{
robotCfg.WriteXml(configFile);
}
catch
{
}
try
{
PostMessage(googleEarth.GetMainHwnd(), WM_QUIT, 0, 0);
}
catch
{
}
}
private void LoadConfig(object sender, RoutedEventArgs e)
{
var openFileDialog = new Microsoft.Win32.OpenFileDialog {
InitialDirectory = Path.Combine(Directory.GetCurrentDirectory(), App.ConfigDir),
Title = "Select configuration file",
CheckFileExists = true,
CheckPathExists = true,
DefaultExt = "json",
Filter = "JSON files |*.json",
FilterIndex = 2,
ReadOnlyChecked = true,
ShowReadOnly = true,
Multiselect = false
};
if (openFileDialog.ShowDialog() == true)
{
Stream fileStream;
StreamReader streamReader;
try {
if ((fileStream = openFileDialog.OpenFile()) != null)
{
using (fileStream)
using (streamReader = new StreamReader(fileStream)) {
string jsonString = streamReader.ReadToEnd();
RobotConfig config = new RobotConfig(jsonString);
Robot.Config = config;
UpdateConfigControls(config);
}
}
} catch (Exception ex) {
MainWindow.ShowErrorDialog("Could not load configuration file.", ex);
}
}
}
public void MainRobotService_OsInitialization_Failure_When_GetEnviromentNullOrSomethingIsWrong_Result_False(TestOptions exceptionOption)
{
//Arrange
RobotConfig config = new RobotConfig
{
Position = new RobotPosition(),
MatrixSize = new MatrixSize()
};
switch (exceptionOption)
{
case TestOptions.NULL_RETURN:
_robotSettingsMock.Setup(x => x.GetEnviromentSettings()).Returns((RobotConfig)null);
break;
case TestOptions.THROWS_EXCEPTION:
_robotSettingsMock.Setup(x => x.GetEnviromentSettings()).Throws <Exception>();
break;
case TestOptions.NULL_Config_MatrixSize:
config.MatrixSize = null;
_robotSettingsMock.Setup(x => x.GetEnviromentSettings()).Returns(config);
break;
case TestOptions.NULL_Config_Position:
_robotSettingsMock.Setup(x => x.GetEnviromentSettings()).Returns(config);
config.Position = null;
break;
}
//Act
bool result = _mainRobotService.OsInitialization();
//Arrange
Assert.False(result);
}
public JaguarCtrl()
{
simulatedJaguar = new AxDDrRobotSentinel_Simulator();
navigation = new Navigation(this);
drRobotConnect = new DrRobotRobotConnection(this);
drRobotConnect.connectRobot();
robotCfg = drRobotConnect.robotConfig;
jaguarSetting = (RobotConfig.RobotConfigTableRow)robotCfg.RobotConfigTable.Rows[0];
InitializeComponent();
// Setup graphics for simulation
SetStyle(ControlStyles.OptimizedDoubleBuffer, false);
this.Paint += new System.Windows.Forms.PaintEventHandler(this.JaguarCtrl_Paint);
panelGE.Visible = false;
mapResolution = trackBarZoom.Value * zoomConstant;
// Start Simulated Sensor Update Thread
runSensorThread = true;
sensorThread = new Thread(runSensorLoop);
sensorThread.Start();
}
public iCubLogicalJoints(RobotConfig config)
{
simControl = new OdeLogicalJoint[MAX_PART,MAX_AXIS];
int head = PART_HEAD;
int rawHead = PART_HEAD_RAW;
OdeLogicalJoint[] sub;
if (config.actHead){
string headName = "head";
// for (int i=0; i<4; i++) {
getController(head,0).init(headName,"hinge",0,+1, config);
getController(head,1).init(headName,"hinge",1,-1, config);
getController(head,2).init(headName,"hinge",2,-1, config);
getController(head,3).init(headName,"hinge",3,+1, config);
// }
// for the eyes, we need to map vergence/version onto
// individual hinge joints
getController(rawHead,4).init(headName,"hinge",4,-1, config);
getController(rawHead,5).init(headName,"hinge",5,+1, config);
getController(head,4).init(getController(rawHead,4),
getController(rawHead,5),
getController(head,5),
+1);
getController(head,5).init(getController(rawHead,4),
getController(rawHead,5),
getController(head,4),
-1);
////////////////////////////////////////////////////////////
// Setting up the left and right arms
for (int arm = PART_ARM_LEFT; arm <= PART_ARM_RIGHT; arm++) {
string armName = (arm==PART_ARM_LEFT)?"leftarm":"rightarm";
if (arm == PART_ARM_RIGHT && config.actRArm){
getController(arm,0).init(armName,"hinge",0,-1, config);
getController(arm,1).init(armName,"hinge",1,+1, config);
getController(arm,2).init(armName,"hinge",2,-1, config);
getController(arm,3).init(armName,"hinge",3,+1, config);
getController(arm,4).init(armName,"hinge",4,-1, config);
getController(arm,5).init(armName,"universalAngle1",5,-1, config);
getController(arm,6).init(armName,"universalAngle2",5,-1, config);
}
if (arm == PART_ARM_LEFT && config.actLArm){
getController(arm,0).init(armName,"hinge",0,-1, config);
getController(arm,1).init(armName,"hinge",1,-1, config);
getController(arm,2).init(armName,"hinge",2,+1, config);
getController(arm,3).init(armName,"hinge",3,+1, config);
getController(arm,4).init(armName,"hinge",4,+1, config);
getController(arm,5).init(armName,"universalAngle1",5,+1, config);
getController(arm,6).init(armName,"universalAngle2",5,-1, config);
}
if (arm == PART_ARM_RIGHT && config.actRHand){
getController(arm,7).init(armName,"hinge",6,+1, config);
sub = null;
sub = getController(arm,7).nest(1);
sub[0].init(armName,"hinge",8,-1, config);
getController(arm,8).init(armName,"universalAngle1",22,-1, config);//thumb
getController(arm,9).init(armName,"universalAngle2",22,-1, config);//thumb
getController(arm,10).init(armName,"hinge",23,-1, config);
sub = null;
sub = getController(arm,10).nest(1);
sub[0].init(armName,"hinge",24,-1, config);
getController(arm,11).init(armName,"hinge",10,-1, config);//index proximal
getController(arm,12).init(armName,"hinge",14,-1, config);
sub = null;
sub = getController(arm,12).nest(1);
sub[0].init(armName,"hinge",18,-1, config);
getController(arm,13).init(armName,"hinge",11,-1, config);//middle finger
getController(arm,14).init(armName,"hinge",15,-1, config);
sub = null;
sub = getController(arm,14).nest(1);
sub[0].init(armName,"hinge",19,-1, config);
getController(arm,15).init(armName,"hinge",12,-1, config);//ring + pinky
sub = null;
sub = getController(arm,15).nest(2);
sub[0].init(armName,"hinge",16,-1, config);
sub[1].init(armName,"hinge",20,-1, config);
}
if (arm == PART_ARM_LEFT && config.actLHand ){
getController(arm,7).init(armName,"hinge",6,+1, config);
sub = null;
sub = getController(arm,7).nest(1);
sub[0].init(armName,"hinge",8,-1, config);
/*getController(arm,8).init(armName,"hinge",22,+1);//thumb
getController(arm,9).init(armName,"hinge",23,+1);
getController(arm,10).init(armName,"hinge",24,+1);
*/
getController(arm,8).init(armName,"universalAngle1",22,+1, config);//thumb
getController(arm,9).init(armName,"universalAngle2",22,-1, config);//thumb
getController(arm,10).init(armName,"hinge",23,+1, config);
sub = null;
sub = getController(arm,10).nest(1);
sub[0].init(armName,"hinge",24,+1, config);
getController(arm,11).init(armName,"hinge",10,+1, config);//index proximal
getController(arm,12).init(armName,"hinge",14,+1, config);
sub = null;
sub = getController(arm,12).nest(1);
sub[0].init(armName,"hinge",18,+1, config);
getController(arm,13).init(armName,"hinge",11,+1, config);//middle finger
getController(arm,14).init(armName,"hinge",15,+1, config);
sub = null;
sub = getController(arm,14).nest(1);
sub[0].init(armName,"hinge",19,+1, config);
getController(arm,15).init(armName,"hinge",12,+1, config);//ring + pinky
sub = null;
sub = getController(arm,15).nest(2);
sub[0].init(armName,"hinge",16,+1, config);
sub[1].init(armName,"hinge",20,+1, config);
}
}
if (config.actLegs){
for (int leg = PART_LEG_LEFT; leg <= PART_LEG_RIGHT; leg++) {
string legName = (leg==PART_LEG_LEFT)?"leftleg":"rightleg";
// changed for demo look below for previous joint setup
if (leg == PART_LEG_RIGHT){
getController(leg,0).init(legName,"hinge",5,-1, config);
getController(leg,1).init(legName,"hinge",4,-1, config);
getController(leg,2).init(legName,"hinge",3,-1, config);
getController(leg,3).init(legName,"hinge",2,-1, config);
getController(leg,4).init(legName,"hinge",1,+1, config);
getController(leg,5).init(legName,"hinge",0,-1, config);
}else{
getController(leg,0).init(legName,"hinge",5,-1, config);
getController(leg,1).init(legName,"hinge",4,+1, config);
getController(leg,2).init(legName,"hinge",3,+1, config);
getController(leg,3).init(legName,"hinge",2,-1, config);
getController(leg,4).init(legName,"hinge",1,+1, config);
getController(leg,5).init(legName,"hinge",0,+1, config);
}
}
}
if (config.actTorso){
int torso = PART_TORSO;
string torsoName = "torso";
getController(torso,0).init(torsoName,"hinge",2,+1, config);
getController(torso,1).init(torsoName,"hinge",1,+1, config);
getController(torso,2).init(torsoName,"hinge",0,-1, config);
}
}
initialised = true;;
}
static void Main(string[] args)
{
RunLocal = AppContext.BaseDirectory;
logs = new Logs(RunLocal);
Reload();
if (ConfigUtils.Config.RunQQ == 0 || ConfigUtils.Config.RunGroup.Count == 0)
{
Console.WriteLine("运行QQ和运行群未设置，请设置后重启");
Console.Read();
return;
}
RobotConfig = new()
{
IP = ConfigUtils.Config.IP,
Port = ConfigUtils.Config.Port,
Name = "BotBiliBili",
Pack = new() { 49 },
RunQQ = ConfigUtils.Config.RunQQ,
Time = 10000,
CallAction = Message,
LogAction = Log,
StateAction = State
};
robot = new();
robot.Set(RobotConfig);
robot.Start();
CheckThread.Start();
while (true)
{
string temp = Console.ReadLine();
string[] arg = temp.Split(' ');
if (arg[0] == "stop")
{
CheckThread.Stop();
HttpUtils.Cancel();
robot.Stop();
return;
}
else if (arg[0] == "test")
{
if (arg.Length < 2)
{
Error("错误的参数");
continue;
}
if (arg[1] == "video")
{
if (arg.Length != 3)
{
Error("错误的参数");
continue;
}
if (arg[2].StartsWith("AV"))
{
var data = HttpUtils.GetVideoA(arg[2]);
VideoPicGen.Gen(data);
Log("已生成");
}
else if (arg[2].StartsWith("BV"))
{
var data = HttpUtils.GetVideoB(arg[2]);
VideoPicGen.Gen(data);
Log("已生成");
}
else
{
Error("不正确的视频号");
continue;
}
}
else if (arg[1] == "dynamic")
{
if (arg.Length != 3)
{
Error("错误的参数");
continue;
}
var data = HttpUtils.GetDynamic(arg[2]);
DynamicPicGen.Gen(data);
Log("已生成");
}
else if (arg[1] == "duser")
{
if (arg.Length != 3)
{
Error("错误的参数");
continue;
}
var data = HttpUtils.GetDynamicUid(arg[2]);
DynamicPicGen.Gen(data);
Log("已生成");
}
else if (arg[1] == "live")
{
if (arg.Length != 3)
{
Error("错误的参数");
continue;
}
var data = HttpUtils.GetLive(arg[2]);
LivePicGen.Gen(data);
Log("已生成");
}
else if (arg[1] == "nuser")
{
if (arg.Length != 3)
{
Error("错误的参数");
continue;
}
var data1 = HttpUtils.SearchUser(arg[2]);
if (data1 == null)
{
Error($"搜索不到用户：{arg[2]}");
return;
}
var data2 = data1["data"]["result"] as JArray;
if (data2.Count == 0)
{
Error($"搜索：{arg[2]} 没有结果");
return;
}
string id = data2[0]["mid"].ToString();
data1 = HttpUtils.GetDynamicUid(id);
if (data1 == null)
{
Error($"获取不到动态：{id}");
return;
}
string temp1 = DynamicPicGen.Gen(data1);
Program.Log($"已生成{temp1}");
}
}
else if (arg[0] == "reload")
{
Reload();
Log("已重读");
}
}
}
private static LoggingLevel CalculateLoggingLevelFromConfigs(RobotConfig configs, LoggingLevel fallbackLoggingLevel = LoggingLevel.INFO)
{
return(configs == null || string.IsNullOrWhiteSpace(configs.DebuggingLevel) || !Enum.TryParse(configs.DebuggingLevel, out LoggingLevel configLoggingLevel)
? fallbackLoggingLevel
: configLoggingLevel);
}
public void Close(JaguarCtrl jc, RobotConfig robotCfg, string configFile)
{
double centerLat = double.Parse(centerLatitude);
double centerLong = double.Parse(centerLongitude);
try
{
centerLat = double.Parse(jc.txtStartLat.Text);
}
catch
{
}
try
{
centerLong = double.Parse(jc.txtStartLong.Text);
}
catch
{
}
jc.jaguarSetting.GoogleEarthStartLat = centerLat;
jc.jaguarSetting.GoogleEarthStartLong = centerLong;
try
{
robotCfg.WriteXml(configFile);
}
catch
{
}
try
{
PostMessage(googleEarth.GetMainHwnd(), WM_QUIT, 0, 0);
}
catch
{
}
}
/////////////////////////////////////////////////////////////////
#region form funtion
public JaguarCtrl(DrRobotRobotConnection form, RobotConfig robotConfig)
{
drRobotConnect = form;
robotCfg = robotConfig;
jaguarSetting = (RobotConfig.RobotConfigTableRow)robotCfg.RobotConfigTable.Rows[0];
InitializeComponent();
}
/**
* Initialize a regular control unit.
*/
public void init(string unit, string type, int index, int sign, RobotConfig conf)
{
//initialise parameters for particular joint type, name and index
this.number = index;
this.type = type;
this.unit = unit;
this.dryFriction = conf.motorDryFriction;
this.maxTorque = conf.motorMaxTorque;
this.sign = sign;
}
