public CalibrationData GetCalibration()
{
CalibrationData cd = new CalibrationData();
cd.leftEyebrowTrim = (int)leftEyebrowTrim.Value;
cd.leftEyebrowMax = (int)leftEyebrowMaximum.Value;
cd.leftEyebrowMin = (int)leftEyebrowMinimum.Value;
cd.leftEyebrowPin = (int)indexToPin[leftEyebrowPin.SelectedIndex];
cd.leftEyebrowEnabled = enableLeftEyebrow.Checked;
cd.rightEyebrowTrim = (int)rightEyebrowTrim.Value;
cd.rightEyebrowMax = (int)rightEyebrowMaximum.Value;
cd.rightEyebrowMin = (int)rightEyebrowMinimum.Value;
cd.rightEyebrowPin = (int)indexToPin[rightEyebrowPin.SelectedIndex];
cd.rightEyebrowEnabled = enableRightEyebrow.Checked;
cd.leftLidPositionTrim = (int)leftEyelidTrim.Value;
cd.leftLidPositionMax = (int)leftEyelidMaximum.Value;
cd.leftLidPositionMin = (int)leftEyelidMinimum.Value;
cd.leftLidPositionPin = (int)indexToPin[leftEyelidPin.SelectedIndex];
cd.leftLidPositionEnabled = enableLeftEyelid.Checked;
cd.rightLidPositionTrim = (int)rightEyelidTrim.Value;
cd.rightLidPositionMax = (int)rightEyelidMaximum.Value;
cd.rightLidPositionMin = (int)rightEyelidMinimum.Value;
cd.rightLidPositionPin = (int)indexToPin[rightEyelidPin.SelectedIndex];
cd.rightLidPositionEnabled = enableRightEyelid.Checked;
cd.leftHorizontalEyeTrim = (int)leftHorizontalEyeTrim.Value;
cd.leftHorizontalEyeMax = (int)leftHorizontalEyeMaximum.Value;
cd.leftHorizontalEyeMin = (int)leftHorizontalEyeMinimum.Value;
cd.leftHorizontalEyePin = (int)indexToPin[leftHorizontalEyePin.SelectedIndex];
cd.leftHorizontalEyeEnabled = enableLeftHorizontalEye.Checked;
cd.rightHorizontalEyeTrim = (int)rightHorizontalEyeTrim.Value;
cd.rightHorizontalEyeMax = (int)rightHorizontalEyeMaximum.Value;
cd.rightHorizontalEyeMin = (int)rightHorizontalEyeMinimum.Value;
cd.rightHorizontalEyePin = (int)indexToPin[rightHorizontalEyePin.SelectedIndex];
cd.rightHorizontalEyeEnabled = enableRightHorizontalEye.Checked;
cd.leftVerticalEyeTrim = (int)leftVerticalEyeTrim.Value;
cd.leftVerticalEyeMax = (int)leftVerticalEyeMaximum.Value;
cd.leftVerticalEyeMin = (int)leftVerticalEyeMinimum.Value;
cd.leftVerticalEyePin = (int)indexToPin[leftVerticalEyePin.SelectedIndex];
cd.leftHorizontalEyeEnabled = enableLeftVerticalEye.Checked;
cd.rightVerticalEyeTrim = (int)rightVerticalEyeTrim.Value;
cd.rightVerticalEyeMax = (int)rightVerticalEyeMaximum.Value;
cd.rightVerticalEyeMin = (int)rightVerticalEyeMinimum.Value;
cd.rightVerticalEyePin = (int)indexToPin[rightVerticalEyePin.SelectedIndex];
cd.rightVerticalEyeEnabled = enableRightVerticalEye.Checked;
cd.neckTwistTrim = (int)rotateNeckTrim.Value;// (-(0.5f * ((float)rotateNeckMaximum.Value - (float)rotateNeckMinimum.Value)) - rotateNeckMinimum.Value + 1500 + rotateNeckTrim.Value);
cd.neckTwistMax = (int)rotateNeckMaximum.Value;
cd.neckTwistMin = (int)rotateNeckMinimum.Value;
cd.neckTwistPin = (int)indexToPin[rotateNeckPin.SelectedIndex];
cd.neckTwistEnabled = enableRotateNeck.Checked;
cd.neckTiltTrim = (int)tiltNeckTrim.Value;
cd.neckTiltMax = (int)tiltNeckMaximum.Value;
cd.neckTiltMin = (int)tiltNeckMinimum.Value;
cd.neckTiltPin = (int)indexToPin[tiltNeckPin.SelectedIndex];
cd.neckTiltEnabled = enableTiltNeck.Checked;
cd.leftLipTrim = (int)leftLipTrim.Value;
cd.leftLipMax = (int)leftLipMaximum.Value;
cd.leftLipMin = (int)leftLipMinimum.Value;
cd.leftLipPin = (int)indexToPin[leftLipPin.SelectedIndex];
cd.leftLipEnabled = enableLeftLip.Checked;
cd.rightLipTrim = (int)rightLipTrim.Value;
cd.rightLipMax = (int)rightLipMaximum.Value;
cd.rightLipMin = (int)rightLipMinimum.Value;
cd.rightLipPin = (int)indexToPin[rightLipPin.SelectedIndex];
cd.rightLipEnabled = enableRightLip.Checked;
cd.jawTrim = (int)jawTrim.Value;
cd.jawMax = (int)jawMaximum.Value;
cd.jawMin = (int)jawMinimum.Value;
cd.jawPin = (int)indexToPin[jawPin.SelectedIndex];
cd.jawEnabled = enableJaw.Checked;
cd.sonarEnabled = enableSonar.Checked;
cd.sonarTriggerPin = (int)indexToPin[sonarTriggerPin.SelectedIndex];
cd.sonarEchoPin = (int)indexToPin[sonarEchoPin.SelectedIndex];
cd.irEnabled = enableIR.Checked;
cd.irPin = (int)indexToPin[irPin.SelectedIndex];
return cd;
}
public void SetCalibration(CalibrationData cd)
{
if ((cd.leftEyebrowPin == 0) && (cd.rightEyebrowPin == 0) && (cd.leftLidPositionPin == 0) &&(cd.rightLidPositionPin==0)) return;
// ensure that the robot does not move while we update the values ... they will trigger a change update
conductor.SetAsPaused(true);
leftEyebrowTrim.Value = cd.leftEyebrowTrim;
leftEyebrowMaximum.Value = cd.leftEyebrowMax;
leftEyebrowMinimum.Value = cd.leftEyebrowMin;
leftEyebrowPin.SelectedIndex = getIndexFromPin(cd.leftEyebrowPin);
enableLeftEyebrow.Checked = cd.leftEyebrowEnabled;
rightEyebrowTrim.Value = cd.rightEyebrowTrim;
rightEyebrowMaximum.Value = cd.rightEyebrowMax;
rightEyebrowMinimum.Value = cd.rightEyebrowMin;
rightEyebrowPin.SelectedIndex = getIndexFromPin(cd.rightEyebrowPin);
enableRightEyebrow.Checked = cd.rightEyebrowEnabled;
leftEyelidTrim.Value = cd.leftLidPositionTrim;
leftEyelidMaximum.Value = cd.leftLidPositionMax;
leftEyelidMinimum.Value = cd.leftLidPositionMin;
leftEyelidPin.SelectedIndex = getIndexFromPin(cd.leftLidPositionPin);
enableLeftEyelid.Checked = cd.leftLidPositionEnabled;
rightEyelidTrim.Value = cd.rightLidPositionTrim;
rightEyelidMaximum.Value = cd.rightLidPositionMax;
rightEyelidMinimum.Value = cd.rightLidPositionMin;
rightEyelidPin.SelectedIndex = getIndexFromPin(cd.rightLidPositionPin);
enableRightEyelid.Checked = cd.rightLidPositionEnabled;
leftHorizontalEyeTrim.Value = cd.leftHorizontalEyeTrim;
leftHorizontalEyeMaximum.Value = cd.leftHorizontalEyeMax;
leftHorizontalEyeMinimum.Value = cd.leftHorizontalEyeMin;
leftHorizontalEyePin.SelectedIndex = getIndexFromPin(cd.leftHorizontalEyePin);
enableLeftHorizontalEye.Checked = cd.leftHorizontalEyeEnabled;
rightHorizontalEyeTrim.Value = cd.rightHorizontalEyeTrim;
rightHorizontalEyeMaximum.Value = cd.rightHorizontalEyeMax;
rightHorizontalEyeMinimum.Value = cd.rightHorizontalEyeMin;
rightHorizontalEyePin.SelectedIndex = getIndexFromPin(cd.rightHorizontalEyePin);
enableRightHorizontalEye.Checked = cd.rightHorizontalEyeEnabled;
leftVerticalEyeTrim.Value = cd.leftVerticalEyeTrim;
leftVerticalEyeMaximum.Value = cd.leftVerticalEyeMax;
leftVerticalEyeMinimum.Value = cd.leftVerticalEyeMin;
leftVerticalEyePin.SelectedIndex = getIndexFromPin(cd.leftVerticalEyePin);
enableLeftVerticalEye.Checked = cd.leftVerticalEyeEnabled;
rightVerticalEyeTrim.Value = cd.rightVerticalEyeTrim;
rightVerticalEyeMaximum.Value = cd.rightVerticalEyeMax;
rightVerticalEyeMinimum.Value = cd.rightVerticalEyeMin;
rightVerticalEyePin.SelectedIndex = getIndexFromPin(cd.rightVerticalEyePin);
enableRightVerticalEye.Checked = cd.rightVerticalEyeEnabled;
rotateNeckTrim.Value = cd.neckTwistTrim;
rotateNeckMaximum.Value = cd.neckTwistMax;
rotateNeckMinimum.Value = cd.neckTwistMin;
rotateNeckPin.SelectedIndex = getIndexFromPin(cd.neckTwistPin);
enableRotateNeck.Checked = cd.neckTwistEnabled;
tiltNeckTrim.Value = cd.neckTiltTrim;
tiltNeckMaximum.Value = cd.neckTiltMax;
tiltNeckMinimum.Value = cd.neckTiltMin;
tiltNeckPin.SelectedIndex = getIndexFromPin(cd.neckTiltPin);
enableTiltNeck.Checked = cd.neckTiltEnabled;
leftLipTrim.Value = cd.leftLipTrim;
leftLipMaximum.Value = cd.leftLipMax;
leftLipMinimum.Value = cd.leftLipMin;
leftLipPin.SelectedIndex = getIndexFromPin(cd.leftLipPin);
enableLeftLip.Checked = cd.leftLipEnabled;
rightLipTrim.Value = cd.rightLipTrim;
rightLipMaximum.Value = cd.rightLipMax;
rightLipMinimum.Value = cd.rightLipMin;
rightLipPin.SelectedIndex = getIndexFromPin(cd.rightLipPin);
enableRightLip.Checked = cd.rightLipEnabled;
jawTrim.Value = cd.jawTrim;
jawMaximum.Value = cd.jawMax;
jawMinimum.Value = cd.jawMin;
jawPin.SelectedIndex = getIndexFromPin(cd.jawPin);
enableJaw.Checked = cd.jawEnabled;
enableSonar.Checked = cd.sonarEnabled;
sonarTriggerPin.SelectedIndex = getIndexFromPin(cd.sonarTriggerPin);
sonarEchoPin.SelectedIndex = getIndexFromPin(cd.sonarEchoPin);
enableIR.Checked = cd.irEnabled;
irPin.SelectedIndex = getIndexFromPin(cd.irPin);
enableLeftEyebrow_Click(null, null);
enableRightEyebrow_Click(null, null);
enableLeftEyelid_Click(null, null);
enableRightEyelid_Click(null, null);
enableLeftHorizontalEye_Click(null, null);
enableRightHorizontalEye_Click(null, null);
enableLeftVerticalEye_Click(null, null);
enableRightVerticalEye_Click(null, null);
enableRotateNeck_Click(null, null);
enableTiltNeck_Click(null, null);
enableLeftLip_Click(null, null);
enableRightLip_Click(null, null);
enableJaw_Click(null, null);
enableSonar_Click(null, null);
enableIR_Click(null, null);
conductor.SetAsPaused(false);
}
