public List <StructPos> ComputeRobotMvt()
{
List <StructPos> Ret = null;
int AngleStep = 10;
int DistStep = 10;
int Count = 0;
int Sign = 1;
switch (_CurrentCommand.Cmd)
{
// ________________________________________
case EnumCmd.Mvt_UseAngleOnly:
case EnumCmd.MvtSimple_RotateInDeg:
case EnumCmd.MvtSimple_RotateToAngleInDeg:
Count = Math.Abs(Convert.ToInt32((_ComputedPosAngle - _PosAngle) / AngleStep));
if (_ComputedPosAngle - _PosAngle < 0)
{
Sign = -1;
}
else
{
Sign = 1;
}
Ret = new List <StructPos>();
for (int i = 0; i < Count; i++)
{
StructPos RobotPosition = new StructPos();
RobotPosition.x = _ComputedPosX;
RobotPosition.y = _ComputedPosY;
RobotPosition.angle = _ComputedPosAngle + i * AngleStep * Sign;
Ret.Add(RobotPosition);
}
break;
// ________________________________________
case EnumCmd.Mvt_UseDistOnly:
case EnumCmd.MvtSimple_MoveInMM:
break;
// ________________________________________
case EnumCmd.Mvt_UseMixedMode:
case EnumCmd.Mvt_UsePivotMode:
case EnumCmd.Mvt_UseSpline:
break;
// ________________________________________
default:
break;
}
return(Ret);
}
public List<StructPos> ComputeRobotMvt()
{
List<StructPos> Ret = null;
int AngleStep = 10;
int DistStep = 10;
int Count = 0;
int Sign = 1;
switch (_CurrentCommand.Cmd)
{
// ________________________________________
case EnumCmd.Mvt_UseAngleOnly:
case EnumCmd.MvtSimple_RotateInDeg:
case EnumCmd.MvtSimple_RotateToAngleInDeg:
Count = Math.Abs(Convert.ToInt32((_ComputedPosAngle - _PosAngle) / AngleStep));
if (_ComputedPosAngle - _PosAngle < 0)
Sign = -1;
else
Sign = 1;
Ret = new List<StructPos>();
for (int i = 0; i < Count; i++)
{
StructPos RobotPosition = new StructPos();
RobotPosition.x = _ComputedPosX;
RobotPosition.y = _ComputedPosY;
RobotPosition.angle = _ComputedPosAngle + i * AngleStep * Sign;
Ret.Add(RobotPosition);
}
break;
// ________________________________________
case EnumCmd.Mvt_UseDistOnly:
case EnumCmd.MvtSimple_MoveInMM:
break;
// ________________________________________
case EnumCmd.Mvt_UseMixedMode:
case EnumCmd.Mvt_UsePivotMode:
case EnumCmd.Mvt_UseSpline:
break;
// ________________________________________
default:
break;
}
return Ret;
}
