protected override void CloneInternal(AnimatGUI.Framework.DataObject doOriginal, bool bCutData, AnimatGUI.Framework.DataObject doRoot)
{
base.CloneInternal(doOriginal, bCutData, doRoot);
DynamixelServo servo = (DynamixelServo)doOriginal;
m_bResetToStartPos = servo.m_bResetToStartPos;
m_bQueryMotorData = servo.m_bQueryMotorData;
m_iMinPosFP = servo.m_iMinPosFP;
m_iMaxPosFP = servo.m_iMaxPosFP;
m_fltMinAngle = servo.m_fltMinAngle;
m_fltMaxAngle = servo.m_fltMaxAngle;
m_iMinVelocityFP = servo.m_iMinVelocityFP;
m_iMaxVelocityFP = servo.m_iMaxVelocityFP;
m_fltRPMPerFPUnit = servo.m_fltRPMPerFPUnit;
m_iMinLoadFP = servo.m_iMinLoadFP;
m_iMaxLoadFP = servo.m_iMaxLoadFP;
m_snTranslationRange = (AnimatGUI.Framework.ScaledNumber)servo.m_snTranslationRange.Clone(this, bCutData, doRoot);
m_iCWComplianceMargin = servo.m_iCWComplianceMargin;
m_iCCWComplianceMargin = servo.m_iCCWComplianceMargin;
m_iCWComplianceSlope = servo.m_iCWComplianceSlope;
m_iCCWComplianceSlope = servo.m_iCCWComplianceSlope;
m_iMaxTorque = servo.m_iMaxTorque;
}
public DynamixelUSBHingeServo(AnimatGUI.Framework.DataObject doParent)
: base(doParent)
{
m_strName = "Hinge Servo";
m_aryCompatiblePartTypes.Clear();
m_aryCompatiblePartTypes.Add(typeof(AnimatGUI.DataObjects.Physical.Joints.Hinge));
}
public M110Actuator(AnimatGUI.Framework.DataObject doParent)
: base(doParent)
{
m_strName = "M110 Actuator";
m_aryCompatiblePartTypes.Clear();
m_aryCompatiblePartTypes.Add(typeof(AnimatGUI.DataObjects.Physical.Bodies.Line));
}
public FirmataDynamixelPrismaticServo(AnimatGUI.Framework.DataObject doParent)
: base(doParent)
{
m_strName = "Dynamixel Prismatic Servo";
m_aryCompatiblePartTypes.Clear();
m_aryCompatiblePartTypes.Add(typeof(AnimatGUI.DataObjects.Physical.Joints.Prismatic));
}
protected override void CloneInternal(AnimatGUI.Framework.DataObject doOriginal, bool bCutData, AnimatGUI.Framework.DataObject doRoot)
{
base.CloneInternal(doOriginal, bCutData, doRoot);
DynamixelUSBServo servo = (DynamixelUSBServo)doOriginal;
m_iUpdateAllParamsCount = servo.m_iUpdateAllParamsCount;
m_iUpdateQueueIndex = servo.m_iUpdateQueueIndex;
}
protected override void CloneInternal(AnimatGUI.Framework.DataObject doOriginal, bool bCutData, AnimatGUI.Framework.DataObject doRoot)
{
base.CloneInternal(doOriginal, bCutData, doRoot);
FirmataHingeServo servo = (FirmataHingeServo)doOriginal;
m_iMaxPulse = servo.m_iMaxPulse;
m_iMinPulse = servo.m_iMinPulse;
}
public RoboticsPhysicsEngine(AnimatGUI.Framework.DataObject doParent)
: base(doParent)
{
m_dtLibraryVersion.DataTypes.Add(new AnimatGUI.DataObjects.DataType("Double", "Double Precision", "", "", -1, 1, AnimatGUI.Framework.ScaledNumber.enumNumericScale.None, AnimatGUI.Framework.ScaledNumber.enumNumericScale.None));
m_aryAvailableBinarModes.Add(AnimatGUI.DataObjects.Physical.PhysicsEngine.enumBinaryMode.x32);
m_aryAvailableBinarModes.Add(AnimatGUI.DataObjects.Physical.PhysicsEngine.enumBinaryMode.x64);
m_aryAvailableOperatingSystems.Add(AnimatGUI.DataObjects.Physical.PhysicsEngine.enumOperatingSystem.Windows);
m_aryAvailableOperatingSystems.Add(AnimatGUI.DataObjects.Physical.PhysicsEngine.enumOperatingSystem.Linux);
}
public DynamixelServo(AnimatGUI.Framework.DataObject doParent)
: base(doParent)
{
m_strName = "Hinge Motor";
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("ReadParamTime", "Read Param Time", "Seconds", "s", 0, 1));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("IOPos", "IO Position", "", "", 0, 1024));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("IOVelocity", "IO Velocity", "", "", 0, 2048));
m_snTranslationRange = new AnimatGUI.Framework.ScaledNumber(this, "TranslationRange", "meters", "m");
}
public override void SaveSimulationXml(ManagedAnimatInterfaces.IStdXml oXml, ref AnimatGUI.Framework.DataObject nmParentControl, string strName = "")
{
base.SaveSimulationXml(oXml, ref nmParentControl, strName);
oXml.IntoElem();
oXml.AddChildElement("ResetToStartPos", m_bResetToStartPos);
oXml.AddChildElement("QueryMotorData", m_bQueryMotorData);
oXml.AddChildElement("MinPosFP", m_iMinPosFP);
oXml.AddChildElement("MaxPosFP", m_iMaxPosFP);
oXml.AddChildElement("MinAngle", m_fltMinAngle);
oXml.AddChildElement("MaxAngle", m_fltMaxAngle);
oXml.AddChildElement("MinVelocityFP", m_iMinVelocityFP);
oXml.AddChildElement("MaxVelocityFP", m_iMaxVelocityFP);
oXml.AddChildElement("RPMPerFPUnit", m_fltRPMPerFPUnit);
oXml.AddChildElement("MinLoadFP", m_iMinLoadFP);
oXml.AddChildElement("MaxLoadFP", m_iMaxLoadFP);
oXml.AddChildElement("IsHinge", IsHinge);
oXml.AddChildElement("CWComplianceMargin", m_iCWComplianceMargin);
oXml.AddChildElement("CCWComplianceMargin", m_iCCWComplianceMargin);
oXml.AddChildElement("CWComplianceSlope", m_iCWComplianceSlope);
oXml.AddChildElement("CCWComplianceSlope", m_iCCWComplianceSlope);
oXml.AddChildElement("MaxTorque", m_iMaxTorque);
if (!IsHinge)
{
m_snTranslationRange.SaveSimulationXml(oXml, ref nmParentControl, "TranslationRange");
}
oXml.OutOfElem();
}
public override AnimatGUI.DataObjects.Physical.ConstraintRelaxation CreateJointRelaxation(string strType, AnimatGUI.DataObjects.Physical.ConstraintRelaxation.enumCoordinateID eCoordinate, AnimatGUI.Framework.DataObject doParent)
{
return(null);
}
public override AnimatGUI.DataObjects.Physical.ConstraintLimit CreateConstraintLimit(string strType, AnimatGUI.Framework.DataObject doParent)
{
return(null);
}
public override AnimatGUI.Framework.DataObject Clone(AnimatGUI.Framework.DataObject doParent, bool bCutData, AnimatGUI.Framework.DataObject doRoot)
{
FirmataDynamixelPrismaticServo doController = new FirmataDynamixelPrismaticServo(doParent);
return(doController);
}
public FirmataDigitalOutput(AnimatGUI.Framework.DataObject doParent)
: base(doParent)
{
m_strName = "Digital Output";
}
public override AnimatGUI.Framework.DataObject Clone(AnimatGUI.Framework.DataObject doParent, bool bCutData, AnimatGUI.Framework.DataObject doRoot)
{
FirmataDigitalOutput doEngine = new FirmataDigitalOutput(doParent);
return(doEngine);
}
public override AnimatGUI.Framework.DataObject Clone(AnimatGUI.Framework.DataObject doParent, bool bCutData, AnimatGUI.Framework.DataObject doRoot)
{
M110Actuator doController = new M110Actuator(doParent);
return(doController);
}
public override AnimatGUI.Framework.DataObject Clone(AnimatGUI.Framework.DataObject doParent, bool bCutData, AnimatGUI.Framework.DataObject doRoot)
{
DynamixelUSBHingeServo doController = new DynamixelUSBHingeServo(doParent);
return(doController);
}
public override void SaveSimulationXml(ManagedAnimatInterfaces.IStdXml oXml, ref AnimatGUI.Framework.DataObject nmParentControl, string strName = "")
{
base.SaveSimulationXml(oXml, ref nmParentControl, strName);
oXml.IntoElem();
oXml.AddChildElement("MaxPulse", m_iMaxPulse);
oXml.AddChildElement("MinPulse", m_iMinPulse);
oXml.AddChildElement("ResetToStartPos", m_bResetToStartPos);
oXml.OutOfElem();
}
public FirmataAnalogOutput(AnimatGUI.Framework.DataObject doParent)
: base(doParent)
{
m_strName = "Analog Output";
}
public override AnimatGUI.Framework.DataObject Clone(AnimatGUI.Framework.DataObject doParent, bool bCutData, AnimatGUI.Framework.DataObject doRoot)
{
RoboticsPhysicsEngine doEngine = new RoboticsPhysicsEngine(doParent);
return(doEngine);
}
protected override void CloneInternal(AnimatGUI.Framework.DataObject doOriginal, bool bCutData, AnimatGUI.Framework.DataObject doRoot)
{
base.CloneInternal(doOriginal, bCutData, doRoot);
M110Actuator part = (M110Actuator)doOriginal;
}
public DynamixelUSBServo(AnimatGUI.Framework.DataObject doParent)
: base(doParent)
{
m_strName = "Servo";
}
public override void SaveSimulationXml(ManagedAnimatInterfaces.IStdXml oXml, ref AnimatGUI.Framework.DataObject nmParentControl, string strName = "")
{
base.SaveSimulationXml(oXml, ref nmParentControl, strName);
oXml.IntoElem();
oXml.AddChildElement("UpdateAllParamsCount", m_iUpdateAllParamsCount);
oXml.AddChildElement("UpdateQueueIndex", m_iUpdateQueueIndex);
oXml.OutOfElem();
}
public override void SaveSimulationXml(ManagedAnimatInterfaces.IStdXml oXml, ref AnimatGUI.Framework.DataObject nmParentControl, string strName = "")
{
base.SaveSimulationXml(oXml, ref nmParentControl, strName);
oXml.IntoElem();
oXml.OutOfElem();
}
