private void StartFromSliderChange(object sender, RoutedPropertyChangedEventArgs <double> e)
{
if (Global.loadingDone == true)
{
if (listBox.SelectedIndex == 0)
{
movement.elbow0.startfrom = Math.Round(start.Value, 2);
startFrom.Content = "+ " + Math.Round(Arm.PwmToDegree(start.Value), 2) + " °";
double avalible = 180 - Arm.PwmToDegree(start.Value) - (180 - Arm.PwmToDegree(max.Value));
availableD.Content = Math.Round(avalible, 2).ToString() + " °";
}
else if (listBox.SelectedIndex == 1)
{
movement.elbow1.startfrom = Math.Round(start.Value, 2);
startFrom.Content = "+ " + Math.Round(Arm.PwmToDegree(start.Value), 2) + " °";
double avalible = 180 - Arm.PwmToDegree(start.Value) - (180 - Arm.PwmToDegree(max.Value));
availableD.Content = Math.Round(avalible, 2).ToString() + " °";
}
else if (listBox.SelectedIndex == 2)
{
movement.elbow2.startfrom = Math.Round(start.Value, 2);
startFrom.Content = "+ " + Math.Round(Arm.PwmToDegree(start.Value), 2) + " °";
double avalible = 180 - Arm.PwmToDegree(start.Value) - (180 - Arm.PwmToDegree(max.Value));
availableD.Content = Math.Round(avalible, 2).ToString() + " °";
}
else if (listBox.SelectedIndex == 3)
{
movement.baseMovemend.startfrom = Math.Round(start.Value, 2);
startFrom.Content = "+ " + Math.Round(Arm.PwmToDegree(start.Value), 2) + " °";
double avalible = 180 - Arm.PwmToDegree(start.Value) - (180 - Arm.PwmToDegree(max.Value));
availableD.Content = Math.Round(avalible, 2).ToString() + " °";
}
else if (listBox.SelectedIndex == 4)
{
movement.griperRotation.startfrom = Math.Round(start.Value, 2);
startFrom.Content = "+ " + Math.Round(Arm.PwmToDegree(start.Value), 2) + " °";
double avalible = 180 - Arm.PwmToDegree(start.Value) - (180 - Arm.PwmToDegree(max.Value));
availableD.Content = Math.Round(avalible, 2).ToString() + " °";
}
else if (listBox.SelectedIndex == 5)
{
movement.griper.startfrom = Math.Round(start.Value, 2);
startFrom.Content = "+ " + Math.Round(Arm.PwmToDegree(start.Value), 2) + " °";
double avalible = 180 - Arm.PwmToDegree(start.Value) - (180 - Arm.PwmToDegree(max.Value));
availableD.Content = Math.Round(avalible, 2).ToString() + " °";
}
}
}
private async void ObjectFollow(string msg)
{
string [] data = msg.Split('*');
int speed = Convert.ToInt32(data[2]);
string command = "";
if (data[0] == "1")
{
command = (movement.baseMovemend.AngleInDegree - speed).ToString() + "*";
}
else if (data[0] == "2")
{
command = (movement.baseMovemend.AngleInDegree + speed).ToString() + "*";
}
else
{
command = movement.baseMovemend.AngleInDegree.ToString() + "*";
}
command += movement.elbow0.AngleInDegree.ToString() + "*";
if (data[1] == "2")
{
if (movement.elbow2.AngleInDegree - speed < Arm.PwmToDegree(movement.elbow2.startfrom))
{
command += (movement.elbow1.AngleInDegree - speed).ToString() + "*" + movement.elbow2.AngleInDegree.ToString() + "*";
}
else
{
command += movement.elbow1.AngleInDegree.ToString() + "*" + (movement.elbow2.AngleInDegree - speed).ToString() + "*";
}
}
else if (data[1] == "1")
{
if (movement.elbow2.AngleInDegree + speed > Arm.PwmToDegree(movement.elbow2.EndAt))
{
command += (movement.elbow1.AngleInDegree + speed).ToString() + "*" + movement.elbow2.AngleInDegree.ToString() + "*";
}
else
{
command += movement.elbow1.AngleInDegree.ToString() + "*" + (movement.elbow2.AngleInDegree + speed).ToString() + "*";
}
}
else
{
command += movement.elbow1.AngleInDegree.ToString() + "*" + movement.elbow2.AngleInDegree.ToString() + "*";
}
command += movement.griperRotation.AngleInDegree.ToString() + "*" + movement.griper.AngleInDegree.ToString() + "*0*0*1.5";
await AutoModeTemplate.ScriptDefaultMovemend(command, movement);
SendACK();
}
private void GetAngle()
{
angles[2, 0] = movement.elbow0.AngleInDegree;
angles[1, 0] = movement.elbow1.AngleInDegree;
angles[0, 0] = movement.elbow2.AngleInDegree;
angles[2, 1] = Arm.PwmToDegree(movement.elbow0.startfrom);
angles[1, 1] = Arm.PwmToDegree(movement.elbow1.startfrom);
angles[0, 1] = Arm.PwmToDegree(movement.elbow2.startfrom);
angles[2, 2] = Arm.PwmToDegree(movement.elbow0.EndAt);
angles[1, 2] = Arm.PwmToDegree(movement.elbow1.EndAt);
angles[0, 2] = Arm.PwmToDegree(movement.elbow2.EndAt);
}
private void MotorCalibrationDisplay()
{
if (listBox.SelectedIndex == 0 && max != null)
{
max.Maximum = Arm.max_Pwm;
max.Minimum = Arm.min_Pwm;
max.Value = movement.elbow0.EndAt;
maxUse.Content = Math.Round(Arm.PwmToDegree(max.Value), 2) + " °";
start.Maximum = Arm.max_Pwm;;
start.Minimum = Arm.min_Pwm;;
start.Value = movement.elbow0.startfrom;
startFrom.Content = "+ " + Math.Round(Arm.PwmToDegree(start.Value), 2) + " °";
double avalible = 180 - Arm.PwmToDegree(start.Value) - (180 - Arm.PwmToDegree(max.Value));
availableD.Content = Math.Round(avalible, 2).ToString() + " °";
}
else if (listBox.SelectedIndex == 1)
{
max.Maximum = Arm.max_Pwm;
max.Minimum = Arm.min_Pwm;
max.Value = movement.elbow1.EndAt;
maxUse.Content = Math.Round(Arm.PwmToDegree(max.Value), 2) + " °";
start.Maximum = Arm.max_Pwm;;
start.Minimum = Arm.min_Pwm;;
start.Value = movement.elbow1.startfrom;
startFrom.Content = "+ " + Math.Round(Arm.PwmToDegree(start.Value), 2) + " °";
double avalible = 180 - Arm.PwmToDegree(start.Value) - (180 - Arm.PwmToDegree(max.Value));
availableD.Content = Math.Round(avalible, 2).ToString() + " °";
}
else if (listBox.SelectedIndex == 2)
{
max.Maximum = Arm.max_Pwm;
max.Minimum = Arm.min_Pwm;
max.Value = movement.elbow2.EndAt;
maxUse.Content = Math.Round(Arm.PwmToDegree(max.Value), 2) + " °";
start.Maximum = Arm.max_Pwm;;
start.Minimum = Arm.min_Pwm;;
start.Value = movement.elbow2.startfrom;
startFrom.Content = "+ " + Math.Round(Arm.PwmToDegree(start.Value), 2) + " °";
double avalible = 180 - Arm.PwmToDegree(start.Value) - (180 - Arm.PwmToDegree(max.Value));
availableD.Content = Math.Round(avalible, 2).ToString() + " °";
}
else if (listBox.SelectedIndex == 3)
{
max.Maximum = Arm.max_Pwm;
max.Minimum = Arm.min_Pwm;
max.Value = movement.baseMovemend.EndAt;
maxUse.Content = Math.Round(Arm.PwmToDegree(max.Value), 2) + " °";
start.Maximum = Arm.max_Pwm;;
start.Minimum = Arm.min_Pwm;;
start.Value = movement.baseMovemend.startfrom;
startFrom.Content = "+ " + Math.Round(Arm.PwmToDegree(start.Value), 2) + " °";
double avalible = 180 - Arm.PwmToDegree(start.Value) - (180 - Arm.PwmToDegree(max.Value));
availableD.Content = Math.Round(avalible, 2).ToString() + " °";
}
else if (listBox.SelectedIndex == 4)
{
max.Maximum = Arm.max_Pwm;
max.Minimum = Arm.min_Pwm;
max.Value = movement.griperRotation.EndAt;
maxUse.Content = Math.Round(Arm.PwmToDegree(max.Value), 2) + " °";
start.Maximum = Arm.max_Pwm;;
start.Minimum = Arm.min_Pwm;;
start.Value = movement.griperRotation.startfrom;
startFrom.Content = "+ " + Math.Round(Arm.PwmToDegree(start.Value), 2) + " °";
double avalible = 180 - Arm.PwmToDegree(start.Value) - (180 - Arm.PwmToDegree(max.Value));
availableD.Content = Math.Round(avalible, 2).ToString() + " °";
}
else if (listBox.SelectedIndex == 5)
{
max.Maximum = Arm.max_Pwm;
max.Minimum = Arm.min_Pwm;
max.Value = movement.griper.EndAt;
maxUse.Content = Math.Round(Arm.PwmToDegree(max.Value), 2) + " °";
start.Maximum = Arm.max_Pwm;;
start.Minimum = Arm.min_Pwm;;
start.Value = movement.griper.startfrom;
startFrom.Content = "+ " + Math.Round(Arm.PwmToDegree(start.Value), 2) + " °";
double avalible = 180 - Arm.PwmToDegree(start.Value) - (180 - Arm.PwmToDegree(max.Value));
availableD.Content = Math.Round(avalible, 2).ToString() + " °";
}
}
public static async Task ScriptDefaultMovemend(string rawcommand, Movement movement)
{
if (Global.IsMoving == true)
{
Global.stopmovement = true;
Thread.Sleep(100);
}
Global.stopmovement = false;
Global.IsMoving = true;
string command = rawcommand;
List <string> instructionsRaw = command.Split('*').ToList();
List <double> instructions = new List <double>();
foreach (var item in instructionsRaw)
{
instructions.Add(Convert.ToDouble(item));
}
if (instructions[0] == -1)
{
instructions[0] = movement.baseMovemend.AngleInPWM;
}
else
{
instructions[0] = Arm.DegreeToPwm(instructions[0]);
}
if (instructions[1] == -1)
{
instructions[1] = movement.elbow0.AngleInPWM;
}
else
{
instructions[1] = Arm.DegreeToPwm(instructions[1]);
}
if (instructions[2] == -1)
{
instructions[2] = movement.elbow1.AngleInPWM;
}
else
{
instructions[2] = Arm.DegreeToPwm(instructions[2]);
}
if (instructions[3] == -1)
{
instructions[3] = movement.elbow2.AngleInPWM;
}
else
{
instructions[3] = Arm.DegreeToPwm(instructions[3]);
}
if (instructions[4] == -1)
{
instructions[4] = movement.griperRotation.AngleInPWM;
}
else
{
instructions[4] = Arm.DegreeToPwm(instructions[4]);
}
if (instructions[5] == -1)
{
instructions[5] = movement.griper.AngleInPWM;
}
else
{
instructions[5] = Arm.DegreeToPwm(instructions[5]);
}
await Task.Run(() =>
{
Global.stopmovement = false;
bool allMotorsOnPositions = false;
do
{
allMotorsOnPositions = Moving(instructions, movement);
Thread.Sleep(Global.MovingSpeed);
if (Global.ScriptEnabled == false || Global.stopmovement == true)
{
break;
}
} while (allMotorsOnPositions == false);
Global.IsMoving = false;
});
}
