public RobotArm()
{
armComms = new ArmCommunicator();
robotBase = new Joint(JointID.BASE, armComms);
wrist = new Joint(JointID.WRIST, armComms);
shoulder = new Joint(JointID.SHOULDER, armComms);
elbow = new Joint(JointID.ELBOW, armComms);
joints = new Joint[4]; // order is important; used by moveTo()
joints[0] = robotBase;
joints[1] = wrist;
joints[2] = shoulder;
joints[3] = elbow;
}
public void ProcessedMovesListTimes()
{
ArmCommunicator communicator = new ArmCommunicator();
List<Move> movesList = new List<Move>();
movesList.Add(new Move() { direction = ArmCommunicator.POSITIVE, JointId = JointID.BASE, time = 500 });
movesList.Add(new Move() { direction = ArmCommunicator.POSITIVE, JointId = JointID.ELBOW, time = 350 });
movesList.Add(new Move() { direction = ArmCommunicator.NEGATIVE, JointId = JointID.SHOULDER, time = 300 });
movesList.Add(new Move() { direction = ArmCommunicator.POSITIVE, JointId = JointID.WRIST, time = 280 });
var processedMoves = communicator.ProcessedMovesList(movesList);
Assert.AreEqual(280, processedMoves.First().time);
Assert.AreEqual(20, processedMoves.ElementAt(1).time);
Assert.AreEqual(50, processedMoves.ElementAt(2).time);
Assert.AreEqual(150, processedMoves.ElementAt(3).time);
Assert.AreEqual(10, processedMoves.ElementAt(4).time);
}
public void ProcessedMovesListFirstByte()
{
// generate a list of legitimate moves
ArmCommunicator communicator = new ArmCommunicator();
List<Move> movesList = new List<Move>();
movesList.Add(new Move() {direction = ArmCommunicator.POSITIVE, JointId = JointID.BASE, time = 500});
movesList.Add(new Move() {direction = ArmCommunicator.POSITIVE, JointId = JointID.ELBOW, time = 350});
movesList.Add(new Move() {direction = ArmCommunicator.NEGATIVE, JointId = JointID.SHOULDER, time = 300});
movesList.Add(new Move() {direction = ArmCommunicator.POSITIVE, JointId = JointID.WRIST, time = 280});
var processedMoves = communicator.ProcessedMovesList(movesList);
Assert.AreEqual((ElbowUp + ShoulderDown + WristUp),processedMoves.First().opCode1);
Assert.AreEqual((ElbowUp + ShoulderDown + WristUp + WristDown), processedMoves.ElementAt(1).opCode1);
Assert.AreEqual((ElbowUp + ShoulderUp + ShoulderDown), processedMoves.ElementAt(2).opCode1);
Assert.AreEqual((ElbowDown + ElbowUp), processedMoves.ElementAt(3).opCode1);
Assert.AreEqual(0x00, processedMoves.ElementAt(4).opCode1);
}
