/// <summary>
/// Main realtive move method
/// </summary>
/// <param name="baseAngle"></param>
/// <param name="distance"></param>
/// <param name="z"></param>
/// <returns></returns>
public override async Task MoveToRelativeAsync(double baseAngle, double distance, double z)
{
VerticalServoPositions verticalServoPositions = CalculateVerticalServoPositions(distance, z);
ServoPositions convertedServoAnglesOrPwm = ConvertToAbsoluteServoAnglesOrPwm(new ServoPositions(baseAngle, verticalServoPositions));
await MoveToConvertedAnglesOrPwmAsync(convertedServoAnglesOrPwm);
}
/// <summary>
/// procedure for calculating servo angles for a position
/// </summary>
/// <param name="x"></param>
/// <param name="y"></param>
/// <param name="z"></param>
/// <returns></returns>
private ServoPositions CalculateServosFromPosition(double x, double y, double z)
{
double angleBase = CalculateAngleOfBase(x, y);
double distance = CalcualteDistance(x, y);
VerticalServoPositions verticalServoPositions = CalculateVerticalServoPositions(distance, z);
return(new ServoPositions(angleBase, verticalServoPositions.Shoulder, verticalServoPositions.Elbow));
}
public ServoPositions(double @base, VerticalServoPositions verticalServoPositions)
{
Base = @base;
Shoulder = verticalServoPositions.Shoulder;
Elbow = verticalServoPositions.Elbow;
}