private void checkBox1_Click(object sender, EventArgs e)
{
alligned = AlignWithRobotCheckBox.Checked && connected;
AlignWithRobotCheckBox.Checked = alligned;
if (alligned)
{
int basepos = RobotArm.baseServo(arm.links[1].angley);
int link2pos = RobotArm.link2Servo(arm.links[2].anglez);
int link3pos = RobotArm.link3Servo(arm.links[3].anglez);
int link4pos = RobotArm.link4Servo(arm.links[4].anglez);
int grippos = RobotArm.link5Servo(arm.links[5].anglex);
int effwidth = RobotArm.gripServo(arm.effectorwidth);
String cmd = ((Servo0BaseIndexRadio.Checked) ? " #0 P" : "#1 P") + Convert.ToString(basepos);
cmd += ((Servo0BaseIndexRadio.Checked) ? " #1 P" : " #2 P") + Convert.ToString(link2pos);
cmd += ((Servo0BaseIndexRadio.Checked) ? " #2 P" : " #3 P") + Convert.ToString(link3pos);
cmd += ((Servo0BaseIndexRadio.Checked) ? " #3 P" :" #4 P") + Convert.ToString(link4pos);
cmd += ((Servo0BaseIndexRadio.Checked) ? " #1 P" : " #5 P") + Convert.ToString(grippos);
cmd += ((Servo0BaseIndexRadio.Checked) ? " #1 P" : " #6 P") + Convert.ToString(effwidth) + " T100\r";
serialPort1.Write(cmd);
}
}
private void button4_Click(object sender, EventArgs e)
{
if (arm == null)
{
return;
}
int angdeg = (int)Link1RateNumeric.Value;
double angle = angdeg * Math.PI / 180;
arm.links[1] = ArmLink.rotateY(arm.links[1], angle);
g.Clear(Color.White);
arm.drawArmcyl(xdim, ydim, g);
double[][] effector = arm.linkPosition(6);
Link1AngleText.Text = Convert.ToString(arm.links[1].angley * 180 / Math.PI);
double x = effector[0][0];
double y = effector[1][0];
double z = effector[2][0];
String str = Convert.ToString(x) + " , " + Convert.ToString(y) + " , " + Convert.ToString(z);
effectorPositionText.Text = str;
//double[] orientation = arm.linkAngles(6);
//yawText.Text = Convert.ToString(orientation[0]*180/Math.PI);
//pitchText.Text = Convert.ToString(orientation[1]*180/Math.PI);
//rollText.Text = Convert.ToString(orientation[2]*180/Math.PI);
EulerParams effectorOrientation = arm.linkAngles(6);
yawText.Text = Convert.ToString(effectorOrientation.Yaw * 180 / Math.PI);
pitchText.Text = Convert.ToString(effectorOrientation.Pitch * 180 / Math.PI);
rollText.Text = Convert.ToString(effectorOrientation.Roll * 180 / Math.PI);
if (connected)
{
if (alligned)
{
String cmd;
if (Servo0BaseIndexRadio.Checked)
{
cmd = " #0 P";
}
else
{
cmd = " #1 P";
}
int basepos = RobotArm.baseServo(arm.links[1].angley);
cmd += Convert.ToString(basepos);
cmd += " T1000\r";
serialPort1.Write(cmd);
}
}
}
private void timer1_Tick(object sender, EventArgs e)
{
clockticks++;
if (clockticks <= trajectory.len)
{
if (trajectory.moves[clockticks - 1].Dbase != 0)
{
arm.links[1] = ArmLink.rotateY(arm.links[1], trajectory.moves[clockticks - 1].Dbase);
}
if (trajectory.moves[clockticks - 1].Dth1 != 0)
{
arm.links[2] = ArmLink.rotateZ(arm.links[2], trajectory.moves[clockticks - 1].Dth1);
}
if (trajectory.moves[clockticks - 1].Dth2 != 0)
{
arm.links[3] = ArmLink.rotateZ(arm.links[3], trajectory.moves[clockticks - 1].Dth2);
}
if (trajectory.moves[clockticks - 1].Dth3 != 0)
{
arm.links[4] = ArmLink.rotateZ(arm.links[4], trajectory.moves[clockticks - 1].Dth3);
}
g.Clear(Color.White);
arm.drawArmcyl(xdim, ydim, g);
double[][] effector = arm.linkPosition(6);
Link1AngleText.Text = Convert.ToString(arm.links[1].angley * 180 / Math.PI);
Link2AngleText.Text = Convert.ToString(arm.links[2].anglez * 180 / Math.PI);
Link3AngleText.Text = Convert.ToString(arm.links[3].anglez * 180 / Math.PI);
Link4AngleText.Text = Convert.ToString(arm.links[4].anglez * 180 / Math.PI);
double x = effector[0][0];
double y = effector[1][0];
double z = effector[2][0];
String str = Convert.ToString(x) + " , " + Convert.ToString(y) + " , " + Convert.ToString(z);
effectorPositionText.Text = str;
EulerParams orientation = arm.linkAngles(6);
yawText.Text = Convert.ToString(orientation.Yaw * 180 / Math.PI);
pitchText.Text = Convert.ToString(orientation.Pitch * 180 / Math.PI);
rollText.Text = Convert.ToString(orientation.Roll * 180 / Math.PI);
if (alligned)
{
String cmd;
// link#1 motion command
if (Servo0BaseIndexRadio.Checked)
{
cmd = " #0 P";
}
else
{
cmd = " #1 P";
}
int basepos = RobotArm.baseServo(arm.links[1].angley);
cmd += Convert.ToString(basepos);
cmd += " T1000\r";
serialPort1.Write(cmd);
// link #2 motion command
if (Servo0BaseIndexRadio.Checked)
{
cmd = " #1 P";
}
else
{
cmd = " #2 P";
}
int link2pos = RobotArm.link2Servo(arm.links[2].anglez);
cmd += Convert.ToString(link2pos);
cmd += " T1000\r";
serialPort1.Write(cmd);
// link #3 motion command
if (Servo0BaseIndexRadio.Checked)
{
cmd = "#2 P";
}
else
{
cmd = " #3 P";
}
int link3pos = RobotArm.link3Servo(arm.links[3].anglez);
cmd += Convert.ToString(link3pos);
cmd += " T1000\r";
serialPort1.Write(cmd);
// link #4 motion command
if (Servo0BaseIndexRadio.Checked)
{
cmd = " #3 P";
}
else
{
cmd = " #4 P";
}
int link4pos = RobotArm.link4Servo(arm.links[4].anglez);
cmd += Convert.ToString(link4pos);
cmd += " T1000\r";
serialPort1.Write(cmd);
}
}
else
{
moving = false;
timer1.Enabled = false;
}
}