// ╔╗ ╔═╗╔═╗╔═╗
// ╠╩╗╠═╣╚═╗║╣
// ╚═╝╩ ╩╚═╝╚═╝
/// <summary>
/// Main constructor.
/// </summary>
/// <param name="name"></param>
/// <param name="applyImmediately"></param>
public RobotCursor(Control parentControl, string name, bool applyImmediately, RobotCursor childCursor)
{
this.parentControl = parentControl;
this.name = name;
this.applyImmediately = applyImmediately;
this.child = childCursor;
// @TODO: make this programmatic
if (this.parentControl.parentRobot.Brand == RobotType.HUMAN)
{
compiler = new CompilerHuman();
}
else if (this.parentControl.parentRobot.Brand == RobotType.MACHINA)
{
compiler = new CompilerMACHINA();
}
else if (this.parentControl.parentRobot.Brand == RobotType.ABB)
{
compiler = new CompilerABB();
}
else if (this.parentControl.parentRobot.Brand == RobotType.UR)
{
compiler = new CompilerUR();
}
else if (this.parentControl.parentRobot.Brand == RobotType.KUKA)
{
compiler = new CompilerKUKA();
}
else if (this.parentControl.parentRobot.Brand == RobotType.ZMORPH)
{
compiler = new CompilerZMORPH();
}
// Initialize buffers
actionBuffer = new ActionBuffer(this);
settingsBuffer = new SettingsBuffer();
//// Basics io names
//for (int i = 0; i < digitalOutputNames.Length; i++)
//{
// digitalOutputNames[i] = "do" + i;
//}
//for (int i = 0; i < digitalOutputNames.Length; i++)
//{
// analogOutputNames[i] = "ao" + i;
//}
// Initialize temps to zero
foreach (RobotPartType part in Enum.GetValues(typeof(RobotPartType)))
{
partTemperature[part] = 0;
}
isExtruding = false; // should these go into Initilize()?
extrusionRate = 0;
extrudedLength = 0;
}
// ╔╗ ╔═╗╔═╗╔═╗
// ╠╩╗╠═╣╚═╗║╣
// ╚═╝╩ ╩╚═╝╚═╝
/// <summary>
/// Main constructor.
/// </summary>
/// <param name="name"></param>
/// <param name="applyImmediately"></param>
public RobotCursor(Control parentControl, string name, bool applyImmediately, RobotCursor childCursor)
{
this.parentControl = parentControl;
this.logger = parentControl.logger;
this.name = name;
this.applyImmediately = applyImmediately;
this.child = childCursor;
// @TODO: make this programmatic
if (this.parentControl.parentRobot.Brand == RobotType.HUMAN)
{
compiler = new CompilerHuman();
}
else if (this.parentControl.parentRobot.Brand == RobotType.MACHINA)
{
compiler = new CompilerMACHINA();
}
else if (this.parentControl.parentRobot.Brand == RobotType.ABB)
{
compiler = new CompilerABB();
}
else if (this.parentControl.parentRobot.Brand == RobotType.UR)
{
compiler = new CompilerUR();
}
else if (this.parentControl.parentRobot.Brand == RobotType.KUKA)
{
compiler = new CompilerKUKA();
}
else if (this.parentControl.parentRobot.Brand == RobotType.ZMORPH)
{
compiler = new CompilerZMORPH();
}
// Initialize buffers
actionBuffer = new ActionBuffer(this);
settingsBuffer = new SettingsBuffer();
}