public KeyInputController(MotorManager motorManager, PositionCalculator positionCalculator)
{
this.positionCalculator = positionCalculator;
this.motorManager = motorManager;
//You can attach yourself to listen to the motors:
//motorManager.addListener(this);
}
public Motorcycle()
{
manager = new MotorManager();
InitializeComponent();
panelSide.Hide();
panelButton.Enabled = true;
panelInput.Enabled = false;
refreshDataGrid();
}
public Linker(Viewport3D viewport)
{
//Now initialise the display!
motorManager = new MotorManager();
Robot robot = new Robot();
platform = new ViewPlatform(viewport, motorManager, robot);
positionCalculator = new PositionCalculator(robot, motorManager);
keyController = new KeyInputController(motorManager, positionCalculator);
}
/// <summary>
/// Create a new Portable object. This class is designed specifically to be imported by other solutions. By calling this constructor,
/// the class will provide you with a robot which appears on the screen. Calling the methods in this class will change the appearance
/// of the robot on screen as well. You can use methods for setting degrees in this class with the normal 360 fashion too.
/// Note: you must call "setCameraToListenToKeys" to be able to move the camera with the keyboard. Otherwise the camera
/// can't know when to move.
/// </summary>
/// <param name="viewport">The viewport to use for displaying the robot.</param>
public Portable(Viewport3D viewport)
{
//Now initialise the display!
motorManager = new MotorManager();
robot = new Robot();
platform = new ViewPlatform(viewport, motorManager, robot);
positionCalculator = new PositionCalculator(robot, motorManager);
updateMotors();
}
public KeuanganUI()
{
InitializeComponent();
order = new OrderBy();
managerMotor = new MotorManager();
managerTransaksi = new TransaksiManager();
monthBox.Text = "Bulan";
monthBox.ForeColor = Color.Silver;
}
/// <summary>
/// Create a new Portable object. This class is designed specifically to be imported by other solutions. By calling this constructor,
/// the class will provide you with a robot which does not appear on a display, but otherwise works in the same way.
/// You can set motor degrees through this class in the normal 360 fashion too.
/// </summary>
public Portable()
{
//Now initialise the display!
motorManager = new MotorManager();
robot = new Robot();
robot.intialise(new Viewport3D());
//Add myself as a listener for the motor manager:
motorManager.addListener(this);
platform = new ViewPlatform(new Viewport3D(), motorManager, robot);
positionCalculator = new PositionCalculator(robot, motorManager);
updateMotors();
}
public bool Connect()
{
try
{
motorManager = MotorManager.getInstance();
if (motorManager.Open() && motorManager.GoToHome(GlobalVariables.motorSettings.HomingBuffer))
{
if (GlobalVariables.motorSettings.UseSimulator)
{
XInPosition = true;
YInPosition = true;
ZInPosition = true;
}
motorManager.MotorStateChanged += OnMotorStateChanged;
motorManager.MotorPositionChanged += OnMotorPositionChanged;
motorManager.LaserStateChanged += OnLaserStateChanged;
motorManager.LedStateChanged += OnLedStateChanged;
motorManager.AxisLimitChanged += OnAxisLimitChanged;
// initial motor profile after buffer homing finished
{
Thread.Sleep(200);
while (!XInPosition || !YInPosition || !ZInPosition)
{
Thread.Sleep(500);
}
InitialMotorProfile();
// move to saved ref position
Homing();
}
return(true);
}
else
{
throw new Exception("Could not connect to motor manager");
}
}
catch (Exception ex)
{
motorManager.Close();
MessageBox.Show(ex.Message, "Error");
}
return(false);
}
//Requires the robot and the motor manager so that it can choose default positions for the motor
//and use the robot's transformation matrices.
public PositionCalculator(Robot robot, MotorManager motorManager)
{
this.motorManager = motorManager;
this.robot = robot;
}
public AngleAdapter(Portable robot)
{
this.robot = robot;
manager = robot.motors();
posCalc = robot.positions();
}
private Robot robot; //the robot to display!
#endregion Fields
#region Constructors
public ViewPlatform(Viewport3D viewport, MotorManager motorManager, Robot robot)
{
this.robot = robot;
robot.intialise(viewport);
this.motorManager = motorManager;
//Add myself as a listener for the motor manager:
this.motorManager.addListener(this);
//Create a focussed camera to watch the origin:
focussedCamera = new FocussedCamera(200, 0, 0);
//Create the perspective camera!
camera = getCamera(focussedCamera.Location, focussedCamera.Direction);
viewport.Camera = camera;
//Now to construct the light:
light = getLight(Colors.White,focussedCamera.Direction);
ModelVisual3D visual = new ModelVisual3D();
visual.Content = light;
viewport.Children.Add(visual);
ModelVisual3D visual2 = new ModelVisual3D();
//Now add in the robot too!
updateMotors();
outerModel = new Model3DGroup();
outerModel.Children.Add(robot.getRobot());
currentMatTransform = (MatrixTransform3D)MatrixTransform3D.Identity;
TranslateTransform3D trans = new TranslateTransform3D();
outerModel.Children[0] = Transforms.applyTransform((Model3DGroup)outerModel.Children[0],currentMatTransform);
visual2.Content = outerModel;
viewport.Children.Add(visual2);
//Phew! That should be it...
viewport.ClipToBounds = true;
}
