private void xyControl_KinematicSolved()
{
var angles = new RobotAngles()
{
A1 = rotControl.Angle1, A2 = xyControl.Angle1, A3 = xyControl.Angle2
};
mArm.SetAngles(angles);
UpdateAnglesLabels();
int length = (int)xyControl.TargetPosition.X;
rotControl.Length1 = length / 2;
rotControl.Length2 = rotControl.Length1;
}
private void rotControl_KinematicSolved()
{
var x = rotControl.TargetPosition.X;
var y = rotControl.TargetPosition.Y;
int length = (int)Math.Sqrt(x * x + y * y);
double a1, a2;
xyControl_InverseKinematicsSolver(length, (int)xyControl.TargetPosition.Y, xyControl.Length1, xyControl.Length2, out a1, out a2);
var angles = new RobotAngles()
{
A1 = rotControl.Angle1, A2 = a1, A3 = a2
};
mArm.SetAngles(angles);
UpdateAnglesLabels();
xyControl.Angle1 = a1;
xyControl.Angle2 = a2;
}
