public Spike2(AnimatGUI.Framework.DataObject doParent)
: base(doParent)
{
m_strName = "Spike2";
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("Data", "Data", "", "", 0, 1));
}
public StandardInterface(AnimatGUI.Framework.DataObject doParent)
: base(doParent)
{
m_strName = "Standard Interface";
m_doPhysics = new RoboticsGUI.RoboticsPhysicsEngine(this);
m_doPhysics.SetLibraryVersion("Double", true);
}
public C884Controller(AnimatGUI.Framework.DataObject doParent)
: base(doParent)
{
m_strName = "C884 Controller";
//Setup the parts that are available for this type of controller.
m_aryAvailablePartTypes.Add(new M110Actuator(this));
}
public DynamixelUSB(AnimatGUI.Framework.DataObject doParent)
: base(doParent)
{
m_strName = "Dynamixel USB";
//Setup the parts that are available for this type of controller.
m_aryAvailablePartTypes.Add(new DynamixelUSBHingeServo(this));
m_aryAvailablePartTypes.Add(new DynamixelUSBPrismaticServo(this));
}
public AnimatSerial(AnimatGUI.Framework.DataObject doParent)
: base(doParent)
{
m_strName = "Animat Serial";
//AnimatSerial controller has the user define the data it will deal with dynamically when
//defining the remote control linkages.
m_bUseRemoteDataTypes = false;
m_aryLinks.Clear();
}
public FirmataController(AnimatGUI.Framework.DataObject doParent)
: base(doParent)
{
m_strName = "Firmata Controller";
//Setup the parts that are available for this type of controller.
m_aryAvailablePartTypes.Add(new FirmataAnalogInput(this));
// m_aryAvailablePartTypes.Add(new FirmataAnalogOutput(this)); //This is not supported at the moment. Leaving the code in here for future use.
m_aryAvailablePartTypes.Add(new FirmataDigitalInput(this));
m_aryAvailablePartTypes.Add(new FirmataDigitalOutput(this));
m_aryAvailablePartTypes.Add(new FirmataHingeServo(this));
m_aryAvailablePartTypes.Add(new FirmataPrismaticServo(this));
m_aryAvailablePartTypes.Add(new FirmataPWMOutput(this));
m_aryAvailablePartTypes.Add(new FirmataDynamixelHingeServo(this));
m_aryAvailablePartTypes.Add(new FirmataDynamixelPrismaticServo(this));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("MotorSendTime", "Motor Send Time", "Seconds", "s", 0, 1));
}
public XBeeCommander(AnimatGUI.Framework.DataObject doParent)
: base(doParent)
{
m_strName = "XBee Commander";
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("WalkV", "Walk Vertical", "", "", -128, 128));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("WalkVStart", "Walk Vertical Start", "", "", -128, 128));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("WalkVStop", "Walk Vertical Stop", "", "", -128, 128));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("WalkH", "Walk Horizontal", "", "", -128, 128));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("WalkHStart", "Walk Horizontal Start", "", "", -128, 128));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("WalkHStop", "Walk Horizontal Stop", "", "", -128, 128));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("LookV", "Look Vertical", "", "", -128, 128));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("LookVStart", "Look Vertical Start", "", "", -128, 128));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("LookVStop", "Look Vertical Stop", "", "", -128, 128));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("LookH", "Look Horizontal", "", "", -128, 128));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("LookHStart", "Look Horizontal Start", "", "", -128, 128));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("LookHStop", "Look Horizontal Stop", "", "", -128, 128));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("Pan", "Pan", "", "", -128, 128));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("PanStart", "Pan Start", "", "", -128, 128));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("PanStop", "Pan Stop", "", "", -128, 128));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("Tilt", "Tilt", "", "", -128, 128));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("TiltStart", "Tilt Start", "", "", -128, 128));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("TiltStop", "Tilt Stop", "", "", -128, 128));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("R1", "R1", "", "", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("R1Start", "R1 Start", "", "", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("R1Stop", "R1 Stop", "", "", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("R2", "R2", "", "", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("R2Start", "R2 Start", "", "", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("R2Stop", "R2 Stop", "", "", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("R3", "R3", "", "", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("R3Start", "R3 Start", "", "", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("R3Stop", "R3 Stop", "", "", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("L4", "L4", "", "", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("L4Start", "L4 Start", "", "", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("L4Stop", "L4 Stop", "", "", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("L5", "L5", "", "", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("L5Start", "L5 Start", "", "", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("L5Stop", "L5 Stop", "", "", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("L6", "L6", "", "", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("L6Start", "L6 Start", "", "", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("L6Stop", "L6 Stop", "", "", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("RT", "RT", "", "", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("RTStart", "RT Start", "", "", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("RTStop", "RT Stop", "", "", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("LT", "LT", "", "", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("LTStart", "LT Start", "", "", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("LTStop", "LT Stop", "", "", 0, 1));
m_aryLinks.Clear();
AnimatGUI.DataObjects.Gains.Polynomial doGain = new AnimatGUI.DataObjects.Gains.Polynomial(null, "Gain", "", "Current", false);
doGain.C.Scale = ScaledNumber.enumNumericScale.nano; doGain.C.Value = 0.0390625;
doGain.D.Scale = ScaledNumber.enumNumericScale.nano; doGain.D.Value = 5;
AnimatGUI.DataObjects.Robotics.PassThroughLinkage doWalkV = new AnimatGUI.DataObjects.Robotics.PassThroughLinkage(this, "WalkV", "WalkV", doGain, true);
doWalkV.Name = "WalkV";
m_aryLinks.Add(doWalkV.ID, doWalkV, false);
doGain = new AnimatGUI.DataObjects.Gains.Polynomial(null, "Gain", "", "Current", false);
doGain.C.Scale = ScaledNumber.enumNumericScale.nano; doGain.C.Value = 0.0390625;
doGain.D.Scale = ScaledNumber.enumNumericScale.nano; doGain.D.Value = 5;
AnimatGUI.DataObjects.Robotics.PassThroughLinkage doWalkH = new AnimatGUI.DataObjects.Robotics.PassThroughLinkage(this, "WalkH", "WalkH", doGain, true);
doWalkH.Name = "WalkH";
m_aryLinks.Add(doWalkH.ID, doWalkH, false);
doGain = new AnimatGUI.DataObjects.Gains.Polynomial(null, "Gain", "", "Current", false);
doGain.C.Scale = ScaledNumber.enumNumericScale.nano; doGain.C.Value = 0.0390625;
doGain.D.Scale = ScaledNumber.enumNumericScale.nano; doGain.D.Value = 5;
AnimatGUI.DataObjects.Robotics.PassThroughLinkage doLookV = new AnimatGUI.DataObjects.Robotics.PassThroughLinkage(this, "LookV", "LookV", doGain, true);
doLookV.Name = "LookV";
m_aryLinks.Add(doLookV.ID, doLookV, false);
doGain = new AnimatGUI.DataObjects.Gains.Polynomial(null, "Gain", "", "Current", false);
doGain.C.Scale = ScaledNumber.enumNumericScale.nano; doGain.C.Value = 0.0390625;
doGain.D.Scale = ScaledNumber.enumNumericScale.nano; doGain.D.Value = 5;
AnimatGUI.DataObjects.Robotics.PassThroughLinkage doLookH = new AnimatGUI.DataObjects.Robotics.PassThroughLinkage(this, "LookH", "LookH", doGain, true);
doLookH.Name = "LookH";
m_aryLinks.Add(doLookH.ID, doLookH, false);
doGain = new AnimatGUI.DataObjects.Gains.Polynomial(null, "Gain", "", "Current", false);
doGain.C.Scale = ScaledNumber.enumNumericScale.nano; doGain.C.Value = 10;
AnimatGUI.DataObjects.Robotics.PassThroughLinkage doR1 = new AnimatGUI.DataObjects.Robotics.PassThroughLinkage(this, "R1", "R1", doGain, true);
doR1.Name = "R1";
m_aryLinks.Add(doR1.ID, doR1, false);
doGain = new AnimatGUI.DataObjects.Gains.Polynomial(null, "Gain", "", "Current", false);
doGain.C.Scale = ScaledNumber.enumNumericScale.nano; doGain.C.Value = 10;
AnimatGUI.DataObjects.Robotics.PassThroughLinkage doR2 = new AnimatGUI.DataObjects.Robotics.PassThroughLinkage(this, "R2", "R2", doGain, true);
doR2.Name = "R2";
m_aryLinks.Add(doR2.ID, doR2, false);
doGain = new AnimatGUI.DataObjects.Gains.Polynomial(null, "Gain", "", "Current", false);
doGain.C.Scale = ScaledNumber.enumNumericScale.nano; doGain.C.Value = 10;
AnimatGUI.DataObjects.Robotics.PassThroughLinkage doR3 = new AnimatGUI.DataObjects.Robotics.PassThroughLinkage(this, "R3", "R3", doGain, true);
doR3.Name = "R3";
m_aryLinks.Add(doR3.ID, doR3, false);
doGain = new AnimatGUI.DataObjects.Gains.Polynomial(null, "Gain", "", "Current", false);
doGain.C.Scale = ScaledNumber.enumNumericScale.nano; doGain.C.Value = 10;
AnimatGUI.DataObjects.Robotics.PassThroughLinkage doL4 = new AnimatGUI.DataObjects.Robotics.PassThroughLinkage(this, "L4", "L4", doGain, true);
doL4.Name = "L4";
m_aryLinks.Add(doL4.ID, doL4, false);
doGain = new AnimatGUI.DataObjects.Gains.Polynomial(null, "Gain", "", "Current", false);
doGain.C.Scale = ScaledNumber.enumNumericScale.nano; doGain.C.Value = 10;
AnimatGUI.DataObjects.Robotics.PassThroughLinkage doL5 = new AnimatGUI.DataObjects.Robotics.PassThroughLinkage(this, "L5", "L5", doGain, true);
doL5.Name = "L5";
m_aryLinks.Add(doL5.ID, doL5, false);
doGain = new AnimatGUI.DataObjects.Gains.Polynomial(null, "Gain", "", "Current", false);
doGain.C.Scale = ScaledNumber.enumNumericScale.nano; doGain.C.Value = 10;
AnimatGUI.DataObjects.Robotics.PassThroughLinkage doL6 = new AnimatGUI.DataObjects.Robotics.PassThroughLinkage(this, "L6", "L6", doGain, true);
doL6.Name = "L6";
m_aryLinks.Add(doL6.ID, doL6, false);
doGain = new AnimatGUI.DataObjects.Gains.Polynomial(null, "Gain", "", "Current", false);
doGain.C.Scale = ScaledNumber.enumNumericScale.nano; doGain.C.Value = 10;
AnimatGUI.DataObjects.Robotics.PassThroughLinkage doRT = new AnimatGUI.DataObjects.Robotics.PassThroughLinkage(this, "RT", "RT", doGain, true);
doRT.Name = "RT";
m_aryLinks.Add(doRT.ID, doRT, false);
doGain = new AnimatGUI.DataObjects.Gains.Polynomial(null, "Gain", "", "Current", false);
doGain.C.Scale = ScaledNumber.enumNumericScale.nano; doGain.C.Value = 10;
AnimatGUI.DataObjects.Robotics.PassThroughLinkage doLT = new AnimatGUI.DataObjects.Robotics.PassThroughLinkage(this, "LT", "LT", doGain, true);
doLT.Name = "LT";
m_aryLinks.Add(doLT.ID, doLT, false);
}
public override AnimatGUI.Framework.DataObject Clone(AnimatGUI.Framework.DataObject doParent, bool bCutData, AnimatGUI.Framework.DataObject doRoot)
{
XBeeCommander doInterface = new XBeeCommander(doParent);
return(doInterface);
}
public override AnimatGUI.Framework.DataObject Clone(AnimatGUI.Framework.DataObject doParent, bool bCutData, AnimatGUI.Framework.DataObject doRoot)
{
FirmataController doInterface = new FirmataController(doParent);
return(doInterface);
}
public override AnimatGUI.Framework.DataObject Clone(AnimatGUI.Framework.DataObject doParent, bool bCutData, AnimatGUI.Framework.DataObject doRoot)
{
Spike2 doInterface = new Spike2(doParent);
return(doInterface);
}
public override AnimatGUI.Framework.DataObject Clone(AnimatGUI.Framework.DataObject doParent, bool bCutData, AnimatGUI.Framework.DataObject doRoot)
{
DynamixelUSB doInterface = new DynamixelUSB(doParent);
return(doInterface);
}
public override AnimatGUI.Framework.DataObject Clone(AnimatGUI.Framework.DataObject doParent, bool bCutData, AnimatGUI.Framework.DataObject doRoot)
{
LANWirelessInterface doInterface = new LANWirelessInterface(doParent);
return(doInterface);
}
