public void setWristTurn(double degreesFromCenter)
{
currentWristTurn = degreesFromCenter;
double mks = PanTiltAlignment.getInstance().mksTilt(degreesFromCenter);
setWristTurnMks((int)mks);
}
public void setMiddleFinger(double degreesFromCenter)
{
currentMiddleFinger = degreesFromCenter;
double mks = PanTiltAlignment.getInstance().mksTilt(degreesFromCenter);
setMiddleFingerMks((int)mks);
}
public void setPinky(double degreesFromCenter)
{
currentPinky = degreesFromCenter;
double mks = PanTiltAlignment.getInstance().mksTilt(degreesFromCenter);
setPinkyMks((int)mks);
}
public void setElbowAngle(double degreesFromCenter)
{
currentElbowAngle = degreesFromCenter;
double mks = PanTiltAlignment.getInstance().mksTilt(degreesFromCenter);
setElbowAngleMks((int)mks);
}
/// <summary>
/// Shoulder tilt
/// </summary>
/// <param name="degreesFromCenter"></param>
public void setShoulderTilt(double degreesFromCenter)
{
currentShoulderTilt = degreesFromCenter;
double mks = PanTiltAlignment.getInstance().mksTilt(degreesFromCenter);
setShoulderTiltMks((int)mks);
}
public static PanTiltAlignment getInstance()
{
if (instance == null)
{
instance = new PanTiltAlignment();
}
return(instance);
}
public static PanTiltAlignment RestoreOrDefault()
{
if (File.Exists(filename))
{
using (TextReader reader = new StreamReader(filename))
{
XmlSerializer x = new System.Xml.Serialization.XmlSerializer(typeof(PanTiltAlignment));
instance = (PanTiltAlignment)x.Deserialize(reader);
}
}
else
{
instance = new PanTiltAlignment();
}
return(instance);
}
public static PanTiltAlignment getInstance()
{
if (instance == null)
{
instance = new PanTiltAlignment();
}
return instance;
}
public static PanTiltAlignment RestoreOrDefault()
{
if (File.Exists(filename))
{
using (TextReader reader = new StreamReader(filename))
{
XmlSerializer x = new System.Xml.Serialization.XmlSerializer(typeof(PanTiltAlignment));
instance = (PanTiltAlignment)x.Deserialize(reader);
}
}
else
{
instance = new PanTiltAlignment();
}
return instance;
}
private void Window_Loaded(object sender, EventArgs e)
{
// UI is up at this moment.
_panTiltAlignment = PanTiltAlignment.RestoreOrDefault();
OpenBrickConnector();
AssumePostureScrollbars(SafePostures);
speak("Ready for action!");
}