/// <summary>
///
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btnMoveRobotToHome_Click(object sender, EventArgs e)
{
if (!this.enableSending)
{
return;
}
int comIndex = Convert.ToInt32(this.robotSerialPortName.Replace("COM", ""));
try
{
using (DynamixelController myDynamixel = new DynamixelController(comIndex, 1))
{
DynamixelArm myArm = new DynamixelArm(myDynamixel, this.jointIDs);
//System.Threading.Thread.Sleep(2000);
myArm.GoToHome();
Decart pos = myArm.GetDPosition();
Console.WriteLine("XYZPR: {0}", pos.ToString());
}
}
catch (Exception exception)
{
Console.WriteLine("Robot: {0}", exception.Message);
}
}
/// <summary>
///
/// </summary>
/// <param name="RobotPortNumber"></param>
/// <param name="Boudrate"></param>
/// <param name="JointID"></param>
public NineMansMorrisPlayer(DynamixelController controler, Joints jointIDs)
: base(controler, jointIDs)
{
//this.MyFigureShop = new FigureShop();
//this.CaptureShop = new FigureShop();
//this.BoardFigurePositions = new RobotBoardPosition();
}
/// <summary>
/// Constructor
/// </summary>
public DynamixelArm(DynamixelController controller, Joints jointIDs)
{
this.jointIDs = jointIDs;
this.controller = controller;
List <Servo> servos = this.controller.FindServos((byte)jointIDs.ToArray().Min(), (byte)jointIDs.ToArray().Max());
this.baseServo = servos.Where(x => x.ID == this.jointIDs.Base).First();
this.shoulderServo = servos.Where(x => x.ID == this.jointIDs.Shoulder).First();
this.elbowServo = servos.Where(x => x.ID == this.jointIDs.Elbow).First();
this.wristServo = servos.Where(x => x.ID == this.jointIDs.Wrist).First();
this.gripperServo = servos.Where(x => x.ID == this.jointIDs.Gripper).First();
}
/// <summary>
///
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btnSendCommand_Click(object sender, EventArgs e)
{
if (!this.enableSending)
{
return;
}
int comIndex = Convert.ToInt32(this.robotSerialPortName.Replace("COM", ""));
tsslblSerialStatus.Text = "";
try
{
using (DynamixelController myDynamixel = new DynamixelController(comIndex, 1))
{
DynamixelArm myArm = new DynamixelArm(myDynamixel, this.jointIDs);
myArm.ComState += new EventHandler <StateEvent>(myRobot_RobotComState);
myArm.ServoState += new EventHandler <ErrorEvent>(myRobot_RobotServoState);
/*
* for (int iterator = 0; iterator < 10; iterator++)
* {
* myArm.LJInterpolation(new Joint(20.0d, -20.0d, 20.0d, 20.0d, 0.0d), 20.0d);
* myArm.LJInterpolation(new Joint(-40.0d, 40.0d, -40.0d, -40.0d, 0.0d), 40.0d);
* myArm.LJInterpolation(new Joint(20.0d, -20.0d, 20.0d, 20.0d, 0.0d), 20.0d);
* }
*/
myArm.GoToHome();
myArm.ComState -= new EventHandler <StateEvent>(myRobot_RobotComState);
myArm.ServoState -= new EventHandler <ErrorEvent>(myRobot_RobotServoState);
this.TestProgram(myArm);
}
Joint homeJ = new Joint(0.0d, 0.0d, 0.0d, 0.0d, 0.0d);
Robot.Experimantal.ArmConfiguration myConfig = new Robot.Experimantal.ArmConfiguration(47, 47, 142, 110);
Robot.Experimantal.ArmKinematics myKinematics = new Robot.Experimantal.ArmKinematics(myConfig);
Decart homeD = myKinematics.Forward(homeJ);
string values = homeD.ToString();
Console.WriteLine("Values: {0}", values);
}
catch (Exception exception)
{
Console.WriteLine("Robot: {0}", exception.Message);
}
}
//Angel Dimov
private void btnSetPosition_Click(object sender, EventArgs e)
{
double baseJoint = double.Parse(this.txtBase.Text);
double shoulderJoint = double.Parse(this.txtShoulder.Text);
double elbowJoint = double.Parse(this.txtElbow.Text);
double wristJoint = double.Parse(this.txtWrist.Text);
double gripperJoint = double.Parse(this.txtGripper.Text);
this.trackBar1.Value = (int)baseJoint;
this.trackBar2.Value = (int)shoulderJoint;
this.trackBar3.Value = (int)elbowJoint;
this.trackBar4.Value = (int)wristJoint;
this.trackBar5.Value = (int)gripperJoint;
if (!this.enableSending)
{
return;
}
int comIndex = Convert.ToInt32(this.robotSerialPortName.Replace("COM", ""));
try
{
using (DynamixelController myDynamixel = new DynamixelController(comIndex, 1))
{
DynamixelArm myArm = new DynamixelArm(myDynamixel, this.jointIDs);
//baseJoint -= tempBase;
//shoulderJoint -= tempShoulder;
//elbowJoint -= tempShoulder;
//wristJoint -= tempWrist;
//gripperJoint -= tempGripper;
myArm.LJInterpolation(new Joint(baseJoint, shoulderJoint, elbowJoint, wristJoint, gripperJoint), 20);
Decart pos = myArm.GetDPosition();
Console.WriteLine("XYZPR: {0}", pos.ToString());
}
}
catch (Exception exception)
{
Console.WriteLine("Robot: {0}", exception.Message);
}
}
