public void RunCommand(MoveLogicalCommand command)
		{
			this.RunCommand(command.GetRawCommand());
		}
Esempio n. 2
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 public void RunCommand(MoveLogicalCommand command)
 {
     this.RunCommand(command.GetRawCommand());
 }
		private void OpenGripper()
		{
			Debug.WriteLine("Opening gripper.");
			MoveLogicalCommand moveCommand = new MoveLogicalCommand(m_Servos);
			moveCommand[ChannelId.Gripper] = 20;
			m_SSC32Board.RunCommand(moveCommand);
		}
		public void RunCommand(MoveLogicalCommand command)
		{
			m_CommandRunner.RunCommand(command);
		}
		private void MoveTo(Vector3 location, string message)
		{
			if (!String.IsNullOrEmpty(message))
			{
				Debug.WriteLine(message);
			}

			MoveLogicalCommand moveCommand = new MoveLogicalCommand(m_Servos);

			JointAngles jointAngles = GetJointAngles(location.X, location.Y, location.Z);
			moveCommand[ChannelId.Base] = jointAngles.BaseAngle;
			moveCommand[ChannelId.Shoulder] = jointAngles.ShoulderAngle;
			moveCommand[ChannelId.Elbow] = jointAngles.ElbowAngle;
			moveCommand[ChannelId.WristUpDown] = jointAngles.WristTiltAngle;

			this.SSC32Board.RunCommand(moveCommand);
		}
		private void CloseGripper()
		{
			Debug.WriteLine("Closing gripper.");

			MoveLogicalCommand moveCommand = new MoveLogicalCommand(m_Servos);
			moveCommand[ChannelId.Gripper] = c_ClosedGripperPosition;
			this.SSC32Board.RunCommand(moveCommand);
		}
		private void MoveToDropTarget()
		{
			Debug.WriteLine("Moving to drop target.");
			Vector3 wristLocation = new Vector3(50, 150, 150);
			JointAngles jointAngles = GetJointAngles(50, 150, 40, true);

			MoveLogicalCommand moveCommand = new MoveLogicalCommand(m_Servos);

			moveCommand[ChannelId.Base] = jointAngles.BaseAngle;
			moveCommand[ChannelId.Shoulder] = jointAngles.ShoulderAngle;
			moveCommand[ChannelId.Elbow] = jointAngles.ElbowAngle;
			moveCommand[ChannelId.WristUpDown] = GetWristTiltAngleForVertical(jointAngles);
			//moveCommand[ChannelId.Gripper] = 28;

			m_SSC32Board.RunCommand(moveCommand);
		}
		private void MoveToHomePosition()
		{
			Debug.WriteLine("Moving to home position.");

			MoveLogicalCommand moveCommand = new MoveLogicalCommand(m_Servos);

			moveCommand[ChannelId.Base] = -90;
			moveCommand[ChannelId.Shoulder] = 0;
			moveCommand[ChannelId.Elbow] =0;
			moveCommand[ChannelId.WristUpDown] = -90;
			moveCommand[ChannelId.Gripper] = 20;

			m_SSC32Board.RunCommand(moveCommand);
		}
		private void MoveToPickupLocation()
		{
			Debug.WriteLine("Moving to pikup location.");

			MoveLogicalCommand moveCommand = new MoveLogicalCommand(m_Servos);

			JointAngles jointAngles = GetJointAngles(this.X, this.Y, this.Z, this.ZIsBasedOnEndeffectorTip);
			moveCommand[ChannelId.Base] = jointAngles.BaseAngle;
			moveCommand[ChannelId.Shoulder] = jointAngles.ShoulderAngle;
			moveCommand[ChannelId.Elbow] = jointAngles.ElbowAngle;
			moveCommand[ChannelId.WristUpDown] = GetWristTiltAngleForVertical(jointAngles);
			//moveCommand[ChannelId.Gripper] = 20;

			m_SSC32Board.RunCommand(moveCommand);
		}
 public void RunCommand(MoveLogicalCommand command)
 {
     m_CommandRunner.RunCommand(command);
 }
		private void MoveToDropTarget()
		{
			Debug.WriteLine("Moving to drop target.");
			JointAngles jointAngles = GetJointAngles(m_DropOffLocation.X, m_DropOffLocation.Y, m_DropOffLocation.Z);

			MoveLogicalCommand moveCommand = new MoveLogicalCommand(m_Servos);

			moveCommand[ChannelId.Base] = jointAngles.BaseAngle;
			moveCommand[ChannelId.Shoulder] = jointAngles.ShoulderAngle;
			moveCommand[ChannelId.Elbow] = jointAngles.ElbowAngle;
			moveCommand[ChannelId.WristUpDown] = jointAngles.WristTiltAngle;

			this.SSC32Board.RunCommand(moveCommand);
		}
		private void MoveDownToPickupLocation(Vector3 pickupLocation)
		{
			Debug.WriteLine("Moving to pickup location.");

			MoveLogicalCommand moveCommand = new MoveLogicalCommand(m_Servos);

			JointAngles jointAngles = GetJointAngles(pickupLocation.X, pickupLocation.Y, pickupLocation.Z);
			moveCommand[ChannelId.Base] = jointAngles.BaseAngle;
			moveCommand[ChannelId.Shoulder] = jointAngles.ShoulderAngle;
			moveCommand[ChannelId.Elbow] = jointAngles.ElbowAngle;
			moveCommand[ChannelId.WristUpDown] = jointAngles.WristTiltAngle;

			this.SSC32Board.RunCommand(moveCommand);
		}
		private void MoveAboveHomePosition()
		{
			Debug.WriteLine("Moving above home position.");

			MoveLogicalCommand moveCommand = new MoveLogicalCommand(m_Servos);

			JointAngles jointAngles = GetJointAngles(m_HomeLocation.X, m_HomeLocation.Y, m_HomeLocation.Z + 30);
			moveCommand[ChannelId.Base] = jointAngles.BaseAngle;
			moveCommand[ChannelId.Shoulder] = jointAngles.ShoulderAngle;
			moveCommand[ChannelId.Elbow] = jointAngles.ElbowAngle;
			moveCommand[ChannelId.WristUpDown] = jointAngles.WristTiltAngle;
			moveCommand[ChannelId.Gripper] = c_OpenGripperPosition;

			this.SSC32Board.RunCommand(moveCommand);
		}