public void CanCalculateRippelGate6()
{
ISender sender = new CommunicationObject(COMPORT);
HomePosition homePosition = HomePositionFactory.CreateHomePosition();
Phoenix phoenix = RobotFactory.CreatePhoenix(HomePositionFactory.CreateHomePosition());
RippelGate6 rippelGate6 = new RippelGate6(phoenix, homePosition);
for (int i = 0; i < 20; i++)
{
double direction = 90;
double stepValue = 1;
ServoBase.TimeBox = 0.2;
new InstructionPacketSyncMovment(sender, rippelGate6.NextSequence(direction,stepValue)).Send();
Thread.Sleep((int) ServoBase.TimeBox * 1000);
}
for (int i = 0; i < 20; i++)
{
double direction = 0;
double stepValue = 2;
ServoBase.TimeBox = 1;
new InstructionPacketSyncMovment(sender, rippelGate6.NextSequence(direction, stepValue)).Send();
Thread.Sleep((int)ServoBase.TimeBox * 1000);
}
for (int i = 0; i < 20; i++)
{
double direction = -45;
double stepValue = 1;
ServoBase.TimeBox = 1;
new InstructionPacketSyncMovment(sender, rippelGate6.NextSequence(direction, stepValue)).Send();
Thread.Sleep((int)ServoBase.TimeBox * 1000);
}
for (int i = 0; i < 20; i++)
{
double direction = 135;
double stepValue = 2;
ServoBase.TimeBox = 1;
new InstructionPacketSyncMovment(sender, rippelGate6.NextSequence(direction, stepValue)).Send();
Thread.Sleep((int)ServoBase.TimeBox * 1000);
}
((CommunicationObject)sender).Dispose();
}
public void CanTurnCWZ30()
{
ISender sender = new CommunicationObject(COMPORT);
HomePosition homePosition = HomePositionFactory.CreateHomePosition();
Phoenix phoenix = RobotFactory.CreatePhoenix(HomePositionFactory.CreateHomePosition());
RippelGate6 rippelGate6 = new RippelGate6(phoenix, homePosition);
for (int i = 0; i < 24; i++)
{
double stepValue = 5;
ServoBase.TimeBox = 1;
double Z = -30;
new InstructionPacketSyncMovment(sender, rippelGate6.NextSequenceRotation(stepValue,0,Z)).Send();
Thread.Sleep((int)ServoBase.TimeBox * 1000);
}
((CommunicationObject)sender).Dispose();
}
