private void setScan1(int X, int Y) { if (positionCounter == 0) { Bitmap preciseMapBmp = mainForm.environment.preciseMap.GetBitmap(); Graphics graphics = Graphics.FromImage(preciseMapBmp); if (mainForm.environment.canRobotStayOnThisPoint(X, Y)) { double l_rl2 = Parameters.getSquaredDistance(currentRobotPosX, currentRobotPosY, X, Y); if (l_rl2 <= Parameters.getL_max2()) { Console.WriteLine("First scan on " + X + "," + Y); crosslinker.setCenter1(X - currentErrorX, Y - currentErrorY); crosslinker.scan1 = mainForm.environment.getScan(X, Y, Parameters.finishColor); positionCounter++; drawPieSupposedZone(preciseMapBmp); interfaceDrawing(preciseMapBmp, graphics); } } } }
private void setScan1(int X, int Y) { if (positionCounter == 1) { Bitmap preciseMapBmp = mainForm.environment.preciseMap.GetBitmap(); Graphics graphics = Graphics.FromImage(preciseMapBmp); if (mainForm.environment.canRobotStayOnThisPoint(X, Y)) { double l_rl2 = Parameters.getSquaredDistance(crosslinker.getXY0(), X, Y); if (l_rl2 <= Parameters.getL_max2()) { crosslinker.setCenter1(X, Y); crosslinker.scan1 = mainForm.environment.getScan(X, Y, Parameters.finishColor); MainForm.drawBitmapOnPictureBox(pictureBox3, crosslinker.scan1.getBitmap()); positionCounter++; drawPieSupposedZone(preciseMapBmp); textBox2Scan1Center.Text = X + "," + Y; interfaceDrawing(preciseMapBmp, graphics); } } } }