public void addMotion(Motion motion)
{
Motion tempMotion;
lock (motionStack)
{
if (motion is MotionParameters)
{
tempMotion = new MotionParameters(motion.X, motion.Y, motion.Z, motion.A, motion.B, motion.C, motion.name, ((MotionParameters)motion).C_DIS, ((MotionParameters)motion).gripClose);
}
else
{
tempMotion = new Motion(motion.X, motion.Y, motion.Z, motion.A, motion.B, motion.C, motion.name);
}
}
lock (motionStack)
{
motionStack.Add(motion);
Debug.WriteLine("StackSize : " + stackSize());
}
}
public void WriteHalfCircle(double CenterX, double CenterY, double Radius, Boolean circledown)
{
Double Point2Y = CenterY + Radius;
//Besoin de 3 point
motionArm = new Motion(CenterX + Radius, CenterY, up, 0, 0, 180, "LIN");
R.addMotion(motionArm);
//Point 1: le départ
motionArm = new Motion(CenterX + Radius, CenterY, down, 0, 0, 180, "LIN");
R.addMotion(motionArm);
//Point 2: un point du cercle.
if (circledown) { Point2Y = CenterY - Radius; }
motionArmP = new MotionParameters(CenterX, Point2Y, down, 0, 0, 180, "CIRC", 5, true);
R.addMotion(motionArmP);
// Point 3: point d'arrivé
motionArmP = new MotionParameters(CenterX - Radius, CenterY, down, 0, 0, 180, "CIRC", 5, true);
R.addMotion(motionArmP);
// On releve la pointe
motionArm = new Motion(CenterX - Radius, CenterY, up, 0, 0, 180, "LIN");
R.addMotion(motionArm);
motionArm = new Motion(CenterX - Radius, CenterY, up, 0, 0, 180, "LIN");
R.addMotion(motionArm);
}
public void addMotion(Motion motion)
{
if (cli.clientReady)
{
Motion tempMotion;
//s'il y a beaucoup de mouvements, on ralenti pour
//éviter de saturer la mémoire
lock (motionStack)
{
if (motion is MotionParameters)
{
tempMotion = new MotionParameters(motion.X, motion.Y, motion.Z, motion.A, motion.B, motion.C, motion.name, ((MotionParameters)motion).C_DIS, ((MotionParameters)motion).gripClose);
}
else
{
tempMotion = new Motion(motion.X, motion.Y, motion.Z, motion.A, motion.B, motion.C, motion.name);
}
}
lock (motionStack)
{
motionStack.Add(tempMotion);
}
}
}
public void copyM(MotionParameters mP)
{
this.copy((Motion)mP);
this._C_DIS = mP.C_DIS;
this._stateGripClose = mP.gripClose;
}