//Test & Example to call setter commands, except robot's motion
// CAUTION: some operation includes output
// - Beep (outputs some sound)
// - Motor ON/OFF
// - Suction cup ON/OFF
// - Gripper ON/OFF
// - Digital Out 0 ON/OFF
static async Task TestNoMotionCommands(IUArm uArm)
{
await uArm.BeepAsync(440, 50);
Console.WriteLine("Detach All Motors");
await uArm.DetachAllMotorAsync();
await Task.Delay(500);
Console.WriteLine("Attach All Motors");
await uArm.AttachAllMotorAsync();
await Task.Delay(500);
Console.WriteLine("Detach All Motors");
await uArm.DetachMotorAsync(Servos.Bottom);
await uArm.DetachMotorAsync(Servos.Left);
await uArm.DetachMotorAsync(Servos.Right);
await Task.Delay(500);
Console.WriteLine("Attach All Motors");
await uArm.AttachMotorAsync(Servos.Bottom);
await uArm.AttachMotorAsync(Servos.Left);
await uArm.AttachMotorAsync(Servos.Right);
await Task.Delay(500);
// Pos -> Angles by IK -> Pos by FK (Math)
var pos = new Position(100, 100, 100);
var angles = await uArm.GetIKAsync(pos);
Console.WriteLine($"IK, src: X={pos.X}, Y={pos.Y}, Z={pos.Z}");
Console.WriteLine($"IK, res: L={angles.Bottom}, B={angles.Left}, R={angles.Right}");
pos = await uArm.GetFKAsync(angles);
Console.WriteLine($"FK, src: L={angles.Bottom}, B={angles.Left}, R={angles.Right}");
Console.WriteLine($"FK, res: X={pos.X}, Y={pos.Y}, Z={pos.Z}");
// Can Reach or not
pos = new Position(100, 100, 100);
Console.WriteLine($"Can reach to (x,y,z)=({pos.X}, {pos.Y}, {pos.Z})? : {await uArm.CanReachAsync(pos)}");
pos = new Position(300, 300, 100);
Console.WriteLine($"Can reach to (x,y,z)=({pos.X}, {pos.Y}, {pos.Z})? : {await uArm.CanReachAsync(pos)}");
var polar = new Polar(100, 45, 100);
Console.WriteLine($"Can reach to (s,r,h)=({polar.Stretch}, {polar.Rotation}, {polar.Height})? : {await uArm.CanReachAsync(polar)}");
polar = new Polar(400, 200, 100);
Console.WriteLine($"Can reach to (s,r,h)=({polar.Stretch}, {polar.Rotation}, {polar.Height})? : {await uArm.CanReachAsync(polar)}");
Console.WriteLine("Activate and deactivate the pump");
await Task.Delay(1000);
await uArm.SetPumpStateAsync(true);
await Task.Delay(1000);
await uArm.SetPumpStateAsync(false);
Console.WriteLine("Activate and deactivate the gripper");
await Task.Delay(1000);
await uArm.SetGripperStateAsync(true);
await Task.Delay(1000);
await uArm.SetGripperStateAsync(false);
// NO bluetooth operation, because when using this, serial connection will be shut down!
//Console.WriteLine("Activate and deactivate the bluetooth");
//await Task.Delay(1000);
//await uArm.SetBluetoothStateAsync(true);
//await Task.Delay(1000);
//await uArm.SetBluetoothStateAsync(false);
Console.WriteLine("Change digital Out 0 to high, and low");
await Task.Delay(1000);
await uArm.SetDigitalPinOutputAsync(0, true);
await Task.Delay(1000);
await uArm.SetDigitalPinOutputAsync(0, false);
Console.WriteLine("Change ArmMode to Normal, Laser, Printing, Universal Holder, and then Normal again");
await Task.Delay(500);
await uArm.SetArmModeAsync(ArmModes.Normal);
await Task.Delay(500);
await uArm.SetArmModeAsync(ArmModes.Laser);
await Task.Delay(500);
await uArm.SetArmModeAsync(ArmModes.Printing);
await Task.Delay(500);
await uArm.SetArmModeAsync(ArmModes.UniversalHolder);
await Task.Delay(500);
await uArm.SetArmModeAsync(ArmModes.Normal);
Console.WriteLine("Set Current Position to the reference position");
try
{
await uArm.UpdateReferencePoint();
}
catch (UArmException ex)
{
Console.WriteLine("Expected error, message: " + ex.Message);
}
Console.WriteLine("Set Height zero Point");
await uArm.UpdateHeightZeroPoint();
Console.WriteLine("Set End Effector Height 100mm, and 0mm");
await uArm.SetEndEffectorHeight(100);
await uArm.SetEndEffectorHeight(0);
}