private void button1_Click(object sender, EventArgs e)
{
RobotArm arm = RobotArm.lynxmotionL6();
arm.links[1] = ArmLink.rotateY(arm.links[1], Math.PI / 4);
arm.links[1] = ArmLink.rotateZ(arm.links[1], -Math.PI / 4);
arm.links[3] = ArmLink.rotateY(arm.links[3], -Math.PI / 4);
arm.links[2] = ArmLink.rotateY(arm.links[2], Math.PI / 4);
double[][] effector = arm.linkPosition(4);
double x = effector[0][0];
double y = effector[1][0];
double z = effector[2][0];
String str = Convert.ToString(x) + " , " + Convert.ToString(y) + " , " + Convert.ToString(z);
effectorPositionText.Text = str;
Graphics g = panel1.CreateGraphics();
int panelx = panel1.Width;
int panely = panel1.Height;
arm.drawArm(panelx, panely, g);
}
private void button5_Click(object sender, EventArgs e)
{
if (arm == null)
{
return;
}
int angdeg = (int)Link3RateNumeric.Value;
double angle = angdeg * Math.PI / 180;
arm.links[3] = ArmLink.rotateZ(arm.links[3], angle);
g.Clear(Color.White);
arm.drawArmcyl(xdim, ydim, g);
double[][] effector = arm.linkPosition(6);
Link3AngleText.Text = Convert.ToString(arm.links[3].anglez * 180 / Math.PI);
double x = effector[0][0];
double y = effector[1][0];
double z = effector[2][0];
String str = Convert.ToString(x) + " , " + Convert.ToString(y) + " , " + Convert.ToString(z);
effectorPositionText.Text = str;
EulerParams orientation = arm.linkAngles(6);
yawText.Text = Convert.ToString(orientation.Yaw * 180 / Math.PI);
pitchText.Text = Convert.ToString(orientation.Pitch * 180 / Math.PI);
rollText.Text = Convert.ToString(orientation.Roll * 180 / Math.PI);
if (connected)
{
if (alligned)
{
String cmd;
if (Servo0BaseIndexRadio.Checked)
{
cmd = "#2 P";
}
else
{
cmd = " #3 P";
}
int link3pos = RobotArm.link3Servo(arm.links[3].anglez);
cmd += Convert.ToString(link3pos);
cmd += " T1000\r";
serialPort1.Write(cmd);
}
}
}
public ArmLink(ArmLink prevlink, double dispX, double dispY, double dispZ,
double rotX, double rotY, double rotZ)
{
int i, j;
ArmLink newlink = ArmLink.translateXYZ(prevlink, dispX, dispY, dispZ);
newlink = ArmLink.rotateX(newlink, rotX);
newlink = ArmLink.rotateY(newlink, rotY);
newlink = ArmLink.rotateZ(newlink, rotY);
// copying transfomation matrix from newlink to the object
for (i = 0; i < 4; i++)
{
for (j = 0; j < 4; j++)
{
this.T[i][j] = newlink.T[i][j];
}
}
// transformation matrix copied
}
public void addDHline(double anglei_1, double ai_1, double di, double homeangle)
{
linknum++;
// creating a new line in the Denavit - Hartenberg matrix
DHmatrix[linknum - 1] = new double[4];
// filling the line now
DHmatrix[linknum - 1][0] = anglei_1; // angle about the x-axis
// bewteen i-1 and i link
DHmatrix[linknum - 1][1] = ai_1; // distance between i-1 and i link
// on the x-axis
DHmatrix[linknum - 1][2] = di; // displace of link i on the z-axis
DHmatrix[linknum - 1][3] = anglei_1; // home angle of link-i
// Denavit - Hartenberg line added
// Now assigning a frame to the link
links[linknum - 1] = ArmLink.rotateX(links[linknum - 2], anglei_1); // rotating about x by angle i-1
// to align with link i
links[linknum - 1] = ArmLink.translateXYZ(links[linknum - 1], ai_1, 0, di); // translating on x by the distance bewteen
// i and i-1 and translating on z by displacement di
links[linknum - 1] = ArmLink.rotateZ(links[linknum - 1], homeangle); // rotating about z to home position (angle theta)
}
private void timer1_Tick(object sender, EventArgs e)
{
clockticks++;
if (clockticks <= trajectory.len)
{
if (trajectory.moves[clockticks - 1].Dbase != 0)
{
arm.links[1] = ArmLink.rotateY(arm.links[1], trajectory.moves[clockticks - 1].Dbase);
}
if (trajectory.moves[clockticks - 1].Dth1 != 0)
{
arm.links[2] = ArmLink.rotateZ(arm.links[2], trajectory.moves[clockticks - 1].Dth1);
}
if (trajectory.moves[clockticks - 1].Dth2 != 0)
{
arm.links[3] = ArmLink.rotateZ(arm.links[3], trajectory.moves[clockticks - 1].Dth2);
}
if (trajectory.moves[clockticks - 1].Dth3 != 0)
{
arm.links[4] = ArmLink.rotateZ(arm.links[4], trajectory.moves[clockticks - 1].Dth3);
}
g.Clear(Color.White);
arm.drawArmcyl(xdim, ydim, g);
double[][] effector = arm.linkPosition(6);
Link1AngleText.Text = Convert.ToString(arm.links[1].angley * 180 / Math.PI);
Link2AngleText.Text = Convert.ToString(arm.links[2].anglez * 180 / Math.PI);
Link3AngleText.Text = Convert.ToString(arm.links[3].anglez * 180 / Math.PI);
Link4AngleText.Text = Convert.ToString(arm.links[4].anglez * 180 / Math.PI);
double x = effector[0][0];
double y = effector[1][0];
double z = effector[2][0];
String str = Convert.ToString(x) + " , " + Convert.ToString(y) + " , " + Convert.ToString(z);
effectorPositionText.Text = str;
EulerParams orientation = arm.linkAngles(6);
yawText.Text = Convert.ToString(orientation.Yaw * 180 / Math.PI);
pitchText.Text = Convert.ToString(orientation.Pitch * 180 / Math.PI);
rollText.Text = Convert.ToString(orientation.Roll * 180 / Math.PI);
if (alligned)
{
String cmd;
// link#1 motion command
if (Servo0BaseIndexRadio.Checked)
{
cmd = " #0 P";
}
else
{
cmd = " #1 P";
}
int basepos = RobotArm.baseServo(arm.links[1].angley);
cmd += Convert.ToString(basepos);
cmd += " T1000\r";
serialPort1.Write(cmd);
// link #2 motion command
if (Servo0BaseIndexRadio.Checked)
{
cmd = " #1 P";
}
else
{
cmd = " #2 P";
}
int link2pos = RobotArm.link2Servo(arm.links[2].anglez);
cmd += Convert.ToString(link2pos);
cmd += " T1000\r";
serialPort1.Write(cmd);
// link #3 motion command
if (Servo0BaseIndexRadio.Checked)
{
cmd = "#2 P";
}
else
{
cmd = " #3 P";
}
int link3pos = RobotArm.link3Servo(arm.links[3].anglez);
cmd += Convert.ToString(link3pos);
cmd += " T1000\r";
serialPort1.Write(cmd);
// link #4 motion command
if (Servo0BaseIndexRadio.Checked)
{
cmd = " #3 P";
}
else
{
cmd = " #4 P";
}
int link4pos = RobotArm.link4Servo(arm.links[4].anglez);
cmd += Convert.ToString(link4pos);
cmd += " T1000\r";
serialPort1.Write(cmd);
}
}
else
{
moving = false;
timer1.Enabled = false;
}
}
