private void InitArmHandler() { _armHandler = new ArmHandler(12345, Helpers.ConfigHelper.GetInstance().JointTimer); _armHandler.OffsetUpdated += new ArmHandler.DeleOffsetUpdated(OnOffsetUpdated); _armHandler.ButtonStateUpdated += new ArmHandler.DeleButtonStareUpdated(OnButtonStateUpdated); //_jointHandler.DataIn += new JointHandler.GetData(Joint_DataIn); }
private void Form1_Load(object sender, EventArgs e) { this.axShockwaveFlash1.Movie = Application.StartupPath + "\\main.swf"; _jointHandler = new ArmHandler(12345); _jointHandler.DataIn += new ArmHandler.GetData(JointHandler_DataIn); //_jointHandler.OffsetUpdated += new JointHandler.DeleOffsetUpdated(OnOffsetUpdated); }
private void Form1_Load(object sender, EventArgs e) { this.axShockwaveFlash1.Movie = Application.StartupPath + "\\main.swf"; _jointHandler = new ArmHandler(12345); _jointHandler.DataIn += new ArmHandler.GetData(JointHandler_DataIn); //_jointHandler.OffsetUpdated += new JointHandler.DeleOffsetUpdated(OnOffsetUpdated); }
public void TestGetButtonState() { string baseString = "roll:-74.60|pitch:8.41|yaw:-169.16|roll2:33.45|pitch2:36.33|yaw2:-104.82|button:1"; ArmHandler a = new ArmHandler(12345); var state = a.GetButtonState(baseString); Assert.AreEqual(1, state); }
public void TestCoord() { ArmHandler jh = new ArmHandler(12345); string testString = "roll:-74.60|pitch:8.41|yaw:-169|roll2:-33.45|pitch2:36.33|yaw2:104"; double[] datas = jh.ResolveCoordinates(testString); Assert.AreEqual(-74.60, datas[0]); Assert.AreEqual(8.41, datas[1]); Assert.AreEqual(-11, datas[2]); Assert.AreEqual(-33.45, datas[3]); Assert.AreEqual(36.33, datas[4]); Assert.AreEqual(76, datas[5]); }
public void TestCalcOffset() { ArmHandler_Accessor target = new ArmHandler_Accessor(12345); // TODO: 初始化为适当的值 ArmHandler jh = new ArmHandler(12345); string baseString = "roll:-74.60|pitch:8.41|yaw:-169.16|roll2:33.45|pitch2:36.33|yaw2:-104.82"; string testString = "roll:-75.60|pitch:6.41|yaw:169.16|roll2:-33.45|pitch2:37.33|yaw2:-102.82"; target._baseData = target.ResolveCoordinates(baseString); target._latestData = target.ResolveCoordinates(testString); target.CalcOffset(); Assert.AreEqual(-1, target._offsetData[0]); Assert.AreEqual(-2, target._offsetData[1]); Assert.AreEqual(338.32, target._offsetData[2]); Assert.AreEqual(-66.9, target._offsetData[3]); Assert.AreEqual(1, target._offsetData[4]); Assert.AreEqual(2, target._offsetData[5]); }
public void TestCalcOffset() { ArmHandler_Accessor target = new ArmHandler_Accessor(12345); // TODO: 初始化为适当的值 ArmHandler jh = new ArmHandler(12345); string baseString = "roll:-74.60|pitch:8.41|yaw:-169.16|roll2:33.45|pitch2:36.33|yaw2:-104.82"; string testString = "roll:-75.60|pitch:6.41|yaw:169.16|roll2:-33.45|pitch2:37.33|yaw2:-102.82"; target._baseData = target.ResolveCoordinates(baseString); target._latestData = target.ResolveCoordinates(testString); target.CalcOffset(); Assert.AreEqual( -1,target._offsetData[0]); Assert.AreEqual(-2, target._offsetData[1]); Assert.AreEqual(338.32, target._offsetData[2]); Assert.AreEqual(-66.9, target._offsetData[3]); Assert.AreEqual(1, target._offsetData[4]); Assert.AreEqual(2, target._offsetData[5]); }
public void TestGetButtonState() { string baseString = "roll:-74.60|pitch:8.41|yaw:-169.16|roll2:33.45|pitch2:36.33|yaw2:-104.82|button:1"; ArmHandler a = new ArmHandler(12345); var state = a.GetButtonState(baseString); Assert.AreEqual(1, state); }
public void TestCoord() { ArmHandler jh = new ArmHandler(12345); string testString = "roll:-74.60|pitch:8.41|yaw:-169|roll2:-33.45|pitch2:36.33|yaw2:104"; double[] datas = jh.ResolveCoordinates(testString); Assert.AreEqual(-74.60, datas[0]); Assert.AreEqual(8.41, datas[1]); Assert.AreEqual(-11, datas[2]); Assert.AreEqual(-33.45, datas[3]); Assert.AreEqual(36.33, datas[4]); Assert.AreEqual(76, datas[5]); }
private void InitArmHandler() { _armHandler = new ArmHandler(12345, Helpers.ConfigHelper.GetInstance().JointTimer); _armHandler.OffsetUpdated += new ArmHandler.DeleOffsetUpdated(OnOffsetUpdated); _armHandler.ButtonStateUpdated += new ArmHandler.DeleButtonStareUpdated(OnButtonStateUpdated); //_jointHandler.DataIn += new JointHandler.GetData(Joint_DataIn); }