public Arm(string portName, ArmConfiguration configuration)
{
m_Configuration = (ArmConfiguration)configuration.Clone();
m_ArmConnector = new ArmConnector(portName);
MaxArmReach = m_Configuration.ElbowLength + m_Configuration.ShoulderLength + m_Configuration.EndEffectorLength;
m_ArmConnector.NewServoPosition += OnNewArmPosition;
}
public static void SaveArmConfig(string path, ArmConfiguration configuration)
{
using (FileStream file = File.Create(path))
{
XmlSerializer serializer = new XmlSerializer(typeof(ArmConfiguration));
serializer.Serialize(file, configuration);
}
}
public object Clone()
{
ArmConfiguration newObj = new ArmConfiguration
{
EndEffectorLength = EndEffectorLength,
BaseToShoulderDistance = BaseToShoulderDistance,
ShoulderLength = ShoulderLength,
ElbowLength = ElbowLength,
BaseMin = BaseMin.Clone() as CalibrationPair,
BaseMax = BaseMax.Clone() as CalibrationPair,
ShoulderMin = ShoulderMin.Clone() as CalibrationPair,
ShoulderMax = ShoulderMax.Clone() as CalibrationPair,
ElbowMin = ElbowMin.Clone() as CalibrationPair,
ElbowMax = ElbowMax.Clone() as CalibrationPair
};
return(newObj);
}
public Arm(SerialPortAddress portAddress, ArmConfiguration configuration) : this(portAddress.Name, configuration)
{
}
public Arm(string portName, string configurationFilePath) : this(portName, ArmConfiguration.LoadArmConfig(configurationFilePath))
{
}
public Arm(SerialPortAddress portAddress, string configurationFilePath) : this(portAddress.Name, ArmConfiguration.LoadArmConfig(configurationFilePath))
{
}
