private void teachButton_Click(object sender, EventArgs e)
{
if (!teaching)
{
SetManualControls(false);
teaching = true;
teachButton.Text = "!Teach";
debugTextbox.AppendText("Teaching mode enabled\r\n");
robot.set_drag_teach(true);
cancellationSource2 = new CancellationTokenSource();
Task.Factory.StartNew(async(cancellationToken) =>
{
CancellationToken token = (CancellationToken)cancellationToken;
int i = 0;
while (!token.IsCancellationRequested)
{
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);
//if (i++ % 10 == 0)
//{
AppendTextBox(debugTextbox,
$"A1: {robot.angle1:0.0000},\t" +
$"A2: {robot.angle2:0.0000},\t" +
$"A3: {robot.rotation:0.0000},\t" +
$"X:{ robot.x:0.0000},\t" +
$"Y: { robot.y:0.0000},\t" +
$"Z: { robot.z:0.0000}\r\n");
//Console.WriteLine($"wrist: {robot.rotation}, elbow: {robot.angle2}, shoulder: {robot.angle1}, Z: {robot.z}");
//}
await Task.Delay(50);
}
}, cancellationSource2.Token);
}
else
{
teaching = false;
cancellationSource2.Cancel(false);
teachButton.Text = "Teach";
debugTextbox.AppendText("Teaching mode disabled\r\n");
robot.set_drag_teach(false);
SetManualControls(true);
}
}