public override void SaveSimulationXml(ManagedAnimatInterfaces.IStdXml oXml, ref AnimatGUI.Framework.DataObject nmParentControl, string strName = "")
{
base.SaveSimulationXml(oXml, ref nmParentControl, strName);
oXml.IntoElem();
oXml.OutOfElem();
}
public Spike2(AnimatGUI.Framework.DataObject doParent)
: base(doParent)
{
m_strName = "Spike2";
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("Data", "Data", "", "", 0, 1));
}
public C884Controller(AnimatGUI.Framework.DataObject doParent)
: base(doParent)
{
m_strName = "C884 Controller";
//Setup the parts that are available for this type of controller.
m_aryAvailablePartTypes.Add(new M110Actuator(this));
}
public LANWirelessInterface(AnimatGUI.Framework.DataObject doParent)
: base(doParent)
{
m_strName = "LAN Wireless Interface";
m_doPhysics = new RoboticsGUI.RoboticsPhysicsEngine(this);
m_doPhysics.SetLibraryVersion("Double", true);
}
public M110Actuator(AnimatGUI.Framework.DataObject doParent)
: base(doParent)
{
m_strName = "M110 Actuator";
m_aryCompatiblePartTypes.Clear();
m_aryCompatiblePartTypes.Add(typeof(AnimatGUI.DataObjects.Physical.Bodies.Line));
}
public FirmataDynamixelPrismaticServo(AnimatGUI.Framework.DataObject doParent)
: base(doParent)
{
m_strName = "Dynamixel Prismatic Servo";
m_aryCompatiblePartTypes.Clear();
m_aryCompatiblePartTypes.Add(typeof(AnimatGUI.DataObjects.Physical.Joints.Prismatic));
}
public DynamixelUSBHingeServo(AnimatGUI.Framework.DataObject doParent)
: base(doParent)
{
m_strName = "Hinge Servo";
m_aryCompatiblePartTypes.Clear();
m_aryCompatiblePartTypes.Add(typeof(AnimatGUI.DataObjects.Physical.Joints.Hinge));
}
protected override void CloneInternal(AnimatGUI.Framework.DataObject doOriginal, bool bCutData, AnimatGUI.Framework.DataObject doRoot)
{
base.CloneInternal(doOriginal, bCutData, doRoot);
DynamixelUSBServo servo = (DynamixelUSBServo)doOriginal;
m_iUpdateAllParamsCount = servo.m_iUpdateAllParamsCount;
m_iUpdateQueueIndex = servo.m_iUpdateQueueIndex;
}
public DynamixelUSB(AnimatGUI.Framework.DataObject doParent)
: base(doParent)
{
m_strName = "Dynamixel USB";
//Setup the parts that are available for this type of controller.
m_aryAvailablePartTypes.Add(new DynamixelUSBHingeServo(this));
m_aryAvailablePartTypes.Add(new DynamixelUSBPrismaticServo(this));
}
public RoboticsPhysicsEngine(AnimatGUI.Framework.DataObject doParent)
: base(doParent)
{
m_dtLibraryVersion.DataTypes.Add(new AnimatGUI.DataObjects.DataType("Double", "Double Precision", "", "", -1, 1, AnimatGUI.Framework.ScaledNumber.enumNumericScale.None, AnimatGUI.Framework.ScaledNumber.enumNumericScale.None));
m_aryAvailableBinarModes.Add(AnimatGUI.DataObjects.Physical.PhysicsEngine.enumBinaryMode.x32);
m_aryAvailableBinarModes.Add(AnimatGUI.DataObjects.Physical.PhysicsEngine.enumBinaryMode.x64);
m_aryAvailableOperatingSystems.Add(AnimatGUI.DataObjects.Physical.PhysicsEngine.enumOperatingSystem.Windows);
m_aryAvailableOperatingSystems.Add(AnimatGUI.DataObjects.Physical.PhysicsEngine.enumOperatingSystem.Linux);
}
public FirmataController(AnimatGUI.Framework.DataObject doParent)
: base(doParent)
{
m_strName = "Firmata Controller";
//Setup the parts that are available for this type of controller.
m_aryAvailablePartTypes.Add(new FirmataAnalogInput(this));
// m_aryAvailablePartTypes.Add(new FirmataAnalogOutput(this)); //This is not supported at the moment. Leaving the code in here for future use.
m_aryAvailablePartTypes.Add(new FirmataDigitalInput(this));
m_aryAvailablePartTypes.Add(new FirmataDigitalOutput(this));
m_aryAvailablePartTypes.Add(new FirmataHingeServo(this));
m_aryAvailablePartTypes.Add(new FirmataPrismaticServo(this));
m_aryAvailablePartTypes.Add(new FirmataPWMOutput(this));
m_aryAvailablePartTypes.Add(new FirmataDynamixelHingeServo(this));
m_aryAvailablePartTypes.Add(new FirmataDynamixelPrismaticServo(this));
m_thDataTypes.DataTypes.Add(new AnimatGUI.DataObjects.DataType("MotorSendTime", "Motor Send Time", "Seconds", "s", 0, 1));
}
public FirmataDigitalInput(AnimatGUI.Framework.DataObject doParent)
: base(doParent)
{
m_strName = "Digital Input";
}
public override bool AllowConstraintRelaxation(string strType, AnimatGUI.DataObjects.Physical.ConstraintRelaxation.enumCoordinateAxis eCoordinate)
{
return false;
}
public override void SaveSimulationXml(ManagedAnimatInterfaces.IStdXml oXml, ref AnimatGUI.Framework.DataObject nmParentControl, string strName = "")
{
base.SaveSimulationXml(oXml, ref nmParentControl, strName);
oXml.IntoElem();
oXml.AddChildElement("UpdateAllParamsCount", m_iUpdateAllParamsCount);
oXml.AddChildElement("UpdateQueueIndex", m_iUpdateQueueIndex);
oXml.OutOfElem();
}
public override AnimatGUI.DataObjects.Physical.ConstraintRelaxation CreateJointRelaxation(string strType, AnimatGUI.DataObjects.Physical.ConstraintRelaxation.enumCoordinateID eCoordinate, AnimatGUI.Framework.DataObject doParent)
{
return null;
}
public FirmataAnalogInput(AnimatGUI.Framework.DataObject doParent)
: base(doParent)
{
m_strName = "Analog Input";
}
public override AnimatGUI.Framework.DataObject Clone(AnimatGUI.Framework.DataObject doParent, bool bCutData, AnimatGUI.Framework.DataObject doRoot)
{
DynamixelUSB doInterface = new DynamixelUSB(doParent);
return doInterface;
}
public override AnimatGUI.Framework.DataObject Clone(AnimatGUI.Framework.DataObject doParent, bool bCutData, AnimatGUI.Framework.DataObject doRoot)
{
M110Actuator doController = new M110Actuator(doParent);
return doController;
}
public override AnimatGUI.Framework.DataObject Clone(AnimatGUI.Framework.DataObject doParent, bool bCutData, AnimatGUI.Framework.DataObject doRoot)
{
XBeeCommander doInterface = new XBeeCommander(doParent);
return doInterface;
}
protected override void CloneInternal(AnimatGUI.Framework.DataObject doOriginal, bool bCutData, AnimatGUI.Framework.DataObject doRoot)
{
base.CloneInternal(doOriginal, bCutData, doRoot);
FirmataHingeServo servo = (FirmataHingeServo)doOriginal;
m_iMaxPulse = servo.m_iMaxPulse;
m_iMinPulse = servo.m_iMinPulse;
}
public override void SaveSimulationXml(ManagedAnimatInterfaces.IStdXml oXml, ref AnimatGUI.Framework.DataObject nmParentControl, string strName = "")
{
base.SaveSimulationXml(oXml, ref nmParentControl, strName);
oXml.IntoElem();
oXml.AddChildElement("MaxPulse", m_iMaxPulse);
oXml.AddChildElement("MinPulse", m_iMinPulse);
oXml.AddChildElement("ResetToStartPos", m_bResetToStartPos);
oXml.OutOfElem();
}
protected override void CloneInternal(AnimatGUI.Framework.DataObject doOriginal, bool bCutData, AnimatGUI.Framework.DataObject doRoot)
{
base.CloneInternal(doOriginal, bCutData, doRoot);
M110Actuator part = (M110Actuator)doOriginal;
}
public override AnimatGUI.Framework.DataObject Clone(AnimatGUI.Framework.DataObject doParent, bool bCutData, AnimatGUI.Framework.DataObject doRoot)
{
FirmataController doInterface = new FirmataController(doParent);
return doInterface;
}
public override AnimatGUI.Framework.DataObject Clone(AnimatGUI.Framework.DataObject doParent, bool bCutData, AnimatGUI.Framework.DataObject doRoot)
{
FirmataAnalogInput doEngine = new FirmataAnalogInput(doParent);
return doEngine;
}
public override AnimatGUI.Framework.DataObject Clone(AnimatGUI.Framework.DataObject doParent, bool bCutData, AnimatGUI.Framework.DataObject doRoot)
{
RoboticsPhysicsEngine doEngine = new RoboticsPhysicsEngine(doParent);
return doEngine;
}
public override AnimatGUI.Framework.DataObject Clone(AnimatGUI.Framework.DataObject doParent, bool bCutData, AnimatGUI.Framework.DataObject doRoot)
{
LANWirelessInterface doInterface = new LANWirelessInterface(doParent);
return doInterface;
}
public override AnimatGUI.DataObjects.Physical.ConstraintLimit CreateConstraintLimit(string strType, AnimatGUI.Framework.DataObject doParent)
{
return null;
}
public DynamixelUSBServo(AnimatGUI.Framework.DataObject doParent)
: base(doParent)
{
m_strName = "Servo";
}
public override AnimatGUI.Framework.DataObject Clone(AnimatGUI.Framework.DataObject doParent, bool bCutData, AnimatGUI.Framework.DataObject doRoot)
{
FirmataDynamixelPrismaticServo doController = new FirmataDynamixelPrismaticServo(doParent);
return doController;
}
public override AnimatGUI.Framework.DataObject Clone(AnimatGUI.Framework.DataObject doParent, bool bCutData, AnimatGUI.Framework.DataObject doRoot)
{
DynamixelUSBHingeServo doController = new DynamixelUSBHingeServo(doParent);
return doController;
}
