/// <summary>
/// Pohnutí s motorem na danou pozici vzhledem k homingu
/// </summary>
/// <param name="position">absolutní pozice</param>
public void moveToPosition(int position)
{
if (limitEnable && hasPositionLimit && position <= minPosition)
{
position = minPosition;
SystemSounds.Beep.Play();
}
if (limitEnable && hasPositionLimit && position >= maxPosition)
{
position = maxPosition;
SystemSounds.Beep.Play();
}
try
{
targetPosition = position;
targetAngle = getAngleFromPosition(targetPosition);
positionHandler.MoveToPosition(Convert.ToInt32(position), true, true);
}
catch (DeviceException e)
{
state = MotorState.error;
stateObserver.motorStateChanged(MotorState.error, String.Format("{0}\nError: {1}", e.ErrorMessage, errorDictionary.getComunicationErrorMessage(e.ErrorCode)), id, 0, 0, 0, 0);
motorErrorOccuredObserver();
}
}
/// <summary>
/// Handles the Click event of the buttonMove control.
/// </summary>
/// <param name="sender">The source of the event.</param>
/// <param name="ea">The <see cref="System.EventArgs"/> instance containing the event data.</param>
private void ButtonMoveClick(object sender, EventArgs ea)
{
try
{
ProfilePositionMode ppm = _epos.Operation.ProfilePositionMode;
ppm.ActivateProfilePositionMode();
textBoxAOM.Text = _epos.Operation.OperationMode.GetOperationModeAsString();
textBoxPositionStart.Text = string.Format("{0}", _epos.Operation.MotionInfo.GetPositionIs());
ppm.MoveToPosition(Convert.ToInt32(textBoxTargetPosition.Text), radioButtonAbsoluteMove.Checked, true);
}
catch (DeviceException e)
{
StopRefresh();
ShowMessageBox(e.ErrorMessage, e.ErrorCode);
}
catch (Exception e)
{
StopRefresh();
MessageBox.Show(e.Message);
}
}
/// <summary>
/// makes both wheels turn until the given distance is reached
/// </summary>
/// <param name="distance">distance in cm, already multiplied by -2000</param>
/// <returns>bool that indicates, if operation was successful</returns>
public bool MoveToPosition(int distance)
{
try
{
//PositionMode is needed to let robot drive a given distance
ActivatePositionMode();
//both wheels should turn
_ppm1.MoveToPosition(distance, false, true);
_ppm2.MoveToPosition(distance, false, true);
//returns true, if MoveToPosition() was successful
return(true);
}
//an error may occur
catch (Exception e)
{
ConsoleFormatter.Error("Failed to move for " + distance + "cm", "Message: " + e.Message);
//returns false if MoveToPosition() fails
return(false);
}
}
private void joy_update(object sender, EventArgs e)
{
if (ctrl != null && ctrl.IsConnected == true)
{
state = ctrl.GetState();
gamepad = ctrl.GetState().Gamepad;
var joy = new xbox_joy();
var buttons = "";
#region get joy data
gamepad = ctrl.GetState().Gamepad;
buttons = gamepad.Buttons.ToString();
joy.A = buttons.Contains("A");
joy.B = buttons.Contains("B");
joy.X = buttons.Contains("X");
joy.Y = buttons.Contains("Y");
joy.start = buttons.Contains("Start");
joy.back = buttons.Contains("Back");
joy.left_shoulder = buttons.Contains("LeftShoulder");
joy.right_shoulder = buttons.Contains("RightShoulder");
joy.rightthumb = buttons.Contains("RightThumb");
joy.leftthumb = buttons.Contains("LeftThumb");
joy.dpadUp = buttons.Contains("DPadUp");
joy.dpadLeft = buttons.Contains("DPadLeft");
joy.dpadDown = buttons.Contains("DPadDown");
joy.dpadRight = buttons.Contains("DPadRight");
joy.left_axis_x = gamepad.LeftThumbX + 32768;
joy.left_axis_y = gamepad.LeftThumbY + 32768;
joy.right_axis_x = gamepad.RightThumbX + 32768;
joy.right_axis_y = gamepad.RightThumbY + 32768;
joy.left_trigger = gamepad.LeftTrigger;
joy.right_trigger = gamepad.RightTrigger;
#endregion
this.label_left_trigger.Text = joy.left_trigger.ToString();
this.label_right_trigger.Text = joy.right_trigger.ToString();
this.label_left_axis_x.Text = joy.left_axis_x.ToString();
this.label_left_axis_y.Text = joy.left_axis_y.ToString();
this.label_right_axis_x.Text = joy.right_axis_x.ToString();
this.label_right_axis_y.Text = joy.right_axis_y.ToString();
if (joy.start)
{
this.checkBox_use_joy.Checked = true;
}
if (joy.back)
{
this.checkBox_use_joy.Checked = false;
}
this.checkBox_use_joy.Visible = true;
// MOVE !!!!
if (checkBox_use_joy.Checked == true)
{
try
{
ProfilePositionMode ppm = _epos_A.Operation.ProfilePositionMode;
ppm.ActivateProfilePositionMode();
textBoxAOM_A.Text = _epos_A.Operation.OperationMode.GetOperationModeAsString();
ppm.MoveToPosition(joy.left_axis_x, true, true);
}
catch { }
try
{
ProfilePositionMode ppm = _epos_B.Operation.ProfilePositionMode;
ppm.ActivateProfilePositionMode();
textBoxAOM_B.Text = _epos_B.Operation.OperationMode.GetOperationModeAsString();
ppm.MoveToPosition(joy.right_axis_x, true, true);
}
catch { }
}
}
else
{
this.checkBox_use_joy.Visible = false;
}
}
