public void Connect(string ip)
{
try
{
_motion = new MotionProxy(ip, 9559);
// --------------- prepare limits --------------------------
// three floats as an ArrayList for each joint in the chain
// min,max,maxNoLoadSpeedPerCycle
ArrayList rightArmLimits = (ArrayList)_motion.getLimits("RArm");
ArrayList RSPitchLimits = (ArrayList)rightArmLimits[0];
_RSminPitch = (float)RSPitchLimits[0];
_RSmaxPitch = (float)RSPitchLimits[1];
ArrayList RSRollLimits = (ArrayList)rightArmLimits[1];
_RSminRoll = (float)RSRollLimits[0];
_RSmaxRoll = (float)RSRollLimits[1];
ArrayList REYawLimits = (ArrayList)rightArmLimits[2];
_REminYaw = (float)REYawLimits[0];
_REmaxYaw = (float)REYawLimits[1];
ArrayList RERollLimits = (ArrayList)rightArmLimits[3];
_REminRoll = (float)RERollLimits[0];
_REmaxRoll = (float)RERollLimits[1];
ArrayList leftArmLimits = (ArrayList)_motion.getLimits("LArm");
ArrayList LSPitchLimits = (ArrayList)leftArmLimits[0];
_LSminPitch = (float)LSPitchLimits[0];
_LSmaxPitch = (float)LSPitchLimits[1];
ArrayList LSRollLimits = (ArrayList)leftArmLimits[1];
_LSminRoll = (float)LSRollLimits[0];
_LSmaxRoll = (float)LSRollLimits[1];
ArrayList LEYawLimits = (ArrayList)leftArmLimits[2];
_LEminYaw = (float)LEYawLimits[0];
_LEmaxYaw = (float)LEYawLimits[1];
ArrayList LERollLimits = (ArrayList)leftArmLimits[3];
_LEminRoll = (float)LERollLimits[0];
_LEmaxRoll = (float)LERollLimits[1];
// give the joints some stiffness
_motion.stiffnessInterpolation("RArm", 1.0f, 1.0f);
_motion.stiffnessInterpolation("LArm", 1.0f, 1.0f);
}
catch (Exception e)
{
Console.Out.WriteLine("Elbow.Connect exception: " + e);
}
}
public void Connect(string ip)
{
try
{
_motion = new MotionProxy(ip,9559);
// --------------- prepare limits --------------------------
// three floats as an ArrayList for each joint in the chain
// min,max,maxNoLoadSpeedPerCycle
ArrayList limits = (ArrayList)_motion.getLimits("Head");
ArrayList yawLimits = (ArrayList)limits[0];
ArrayList pitchLimits = (ArrayList)limits[1];
_minYaw = (float)yawLimits[0];
_maxYaw = (float)yawLimits[1];
_minPitch = (float)pitchLimits[0];
_maxPitch = (float)pitchLimits[1];
Console.WriteLine("MinYaw: " + _minYaw + " MaxYaw:" + _maxYaw + " MinPitch: " + _minPitch + " MaxPitch:" + _maxPitch);
// give the joints some stiffness
_motion.stiffnessInterpolation("Head",1.0f,1.0f);
}
catch(Exception e)
{
Console.Out.WriteLine("HeadPanning.Connect exception: " + e);
}
}
