public Form1()
{
InitializeComponent();
double[] L = { 25, 25, 120, 60, 60, 25, 25 };
Robot = new RobotArmState(L, RobotArmState.EXPRESSION_METHOD.EULER_ZYX);
Idraw = new IsometricDraw(pb3DView.Width, pb3DView.Height, 500);
double[] angle = { 0, 0, 0, 0, 0, 0, 0 };
Bitmap bitmap = new Bitmap(pb3DView.Width, pb3DView.Height);
Idraw.DrawOriginalAxis(bitmap);
DrawRobot(bitmap, Robot.LinkPos);
InitTrackBar(tbJ0, -180, 180);
InitTrackBar(tbJ1, -180, 180);
InitTrackBar(tbJ2, -180, 180);
InitTrackBar(tbJ3, -180, 180);
InitTrackBar(tbJ4, -180, 180);
InitTrackBar(tbJ5, -180, 180);
InitTrackBar(tbRX, -180, 180);
InitTrackBar(tbRY, -180, 180);
InitTrackBar(tbRZ, -180, 180);
UpdateAllUIFromState(Robot);
}
public void UpdateAllUIFromState(RobotArmState state)
{
WriteAngleToTrackbar(state.JointAngle);
WriteAngleToTextBox(state.JointAngle);
WriteEndPosToTextBox(state.EndPos);
WriteEndAngleToTextBox(state.CoordinateAngle);
WriteEndAngleToTrackBar(state.CoordinateAngle);
}