private async void homeButton_Click(object sender, EventArgs e)
{
SetManualControls(false);
robot.set_angle_move(0, 0, 0, 0, angularSpeed);
while (!robot.is_robot_goto_target())
{
robot.get_scara_param();
SetTrackbar(wristTrackbar, wristTextbox, (int)robot.rotation);
SetTrackbar(elbowTrackbar, elbowTextbox, (int)robot.angle2);
SetTrackbar(shoulderTrackBar, shoulderTextbox, (int)robot.angle1);
SetTrackbar(zAxisTrackbar, zAxisTextbox, (int)robot.z);
await Task.Delay(50);
}
//wristTextbox.Text = 0.ToString();
//elbowTextbox.Text = 0.ToString();
//shoulderTextbox.Text = 0.ToString();
//zAxisTextbox.Text = 0.ToString();
//wristTrackbar.Value = 0;
//elbowTrackbar.Value = 0;
//shoulderTrackBar.Value = 0;
//zAxisTrackbar.Value = 0;
SetManualControls(true);
}