Beispiel #1
0
        /// <summary>
        /// Asks for user input to determine movement of tooltip in arc and then makes the move as a single circular move.
        /// </summary>
        /// <returns></returns>
        public string QueryPour()
        {
            var circle = new Circle3D();

            circle.InputValues();
            MoveAroundCirclePoint(circle);

            return(""); //All commands already sent, do no more
        }
Beispiel #2
0
        /// <summary>
        /// Moves along the circumference of a pre-defined 3D-circle and keeps the roll-angle pointing towards center.
        /// </summary>
        /// <param name="circle"></param>
        public void MoveAroundCirclePoint(Circle3D circle)
        {
            var circlePositions = circle.GetCirclePositionStrings();

            WritePositionToController(20, circlePositions[0]);
            WritePositionToController(21, circlePositions[1]);
            WritePositionToController(22, circlePositions[2]);
            Serial.WriteLine($"MR {20},{21},{22}");
        }