public void Connect(string ip)
{
try
{
_motion = new MotionProxy(ip, 9559);
// --------------- prepare limits --------------------------
// three floats as an ArrayList for each joint in the chain
// min,max,maxNoLoadSpeedPerCycle
ArrayList rightArmLimits = (ArrayList)_motion.getLimits("RArm");
ArrayList RSPitchLimits = (ArrayList)rightArmLimits[0];
_RSminPitch = (float)RSPitchLimits[0];
_RSmaxPitch = (float)RSPitchLimits[1];
ArrayList RSRollLimits = (ArrayList)rightArmLimits[1];
_RSminRoll = (float)RSRollLimits[0];
_RSmaxRoll = (float)RSRollLimits[1];
ArrayList REYawLimits = (ArrayList)rightArmLimits[2];
_REminYaw = (float)REYawLimits[0];
_REmaxYaw = (float)REYawLimits[1];
ArrayList RERollLimits = (ArrayList)rightArmLimits[3];
_REminRoll = (float)RERollLimits[0];
_REmaxRoll = (float)RERollLimits[1];
ArrayList leftArmLimits = (ArrayList)_motion.getLimits("LArm");
ArrayList LSPitchLimits = (ArrayList)leftArmLimits[0];
_LSminPitch = (float)LSPitchLimits[0];
_LSmaxPitch = (float)LSPitchLimits[1];
ArrayList LSRollLimits = (ArrayList)leftArmLimits[1];
_LSminRoll = (float)LSRollLimits[0];
_LSmaxRoll = (float)LSRollLimits[1];
ArrayList LEYawLimits = (ArrayList)leftArmLimits[2];
_LEminYaw = (float)LEYawLimits[0];
_LEmaxYaw = (float)LEYawLimits[1];
ArrayList LERollLimits = (ArrayList)leftArmLimits[3];
_LEminRoll = (float)LERollLimits[0];
_LEmaxRoll = (float)LERollLimits[1];
// give the joints some stiffness
_motion.stiffnessInterpolation("RArm", 1.0f, 1.0f);
_motion.stiffnessInterpolation("LArm", 1.0f, 1.0f);
}
catch (Exception e)
{
Console.Out.WriteLine("Elbow.Connect exception: " + e);
}
}
public void Connect(string ip)
{
try
{
_motion = new MotionProxy(ip,9559);
// --------------- prepare limits --------------------------
// three floats as an ArrayList for each joint in the chain
// min,max,maxNoLoadSpeedPerCycle
ArrayList limits = (ArrayList)_motion.getLimits("Head");
ArrayList yawLimits = (ArrayList)limits[0];
ArrayList pitchLimits = (ArrayList)limits[1];
_minYaw = (float)yawLimits[0];
_maxYaw = (float)yawLimits[1];
_minPitch = (float)pitchLimits[0];
_maxPitch = (float)pitchLimits[1];
Console.WriteLine("MinYaw: " + _minYaw + " MaxYaw:" + _maxYaw + " MinPitch: " + _minPitch + " MaxPitch:" + _maxPitch);
// give the joints some stiffness
_motion.stiffnessInterpolation("Head",1.0f,1.0f);
}
catch(Exception e)
{
Console.Out.WriteLine("HeadPanning.Connect exception: " + e);
}
}
/// <summary>
/// Connects to the motion system in the NAO robot
/// </summary>
/// <param name="ip"> ip address of the robot </param>
public void connect(string ip)
{
try
{
naoMotion = new MotionProxy(ip, 9559);
// give joints stiffness
naoMotion.stiffnessInterpolation("Head", 1.0f, 1.0f);
naoMotion.stiffnessInterpolation("LArm", 1.0f, 1.0f);
naoMotion.stiffnessInterpolation("RArm", 1.0f, 1.0f);
}
catch (Exception e)
{
MessageBox.Show("Exception occurred, error log in C:\\NAOcam\\exception.txt");
System.IO.File.WriteAllText(@"C:\\NAOcam\\exception.txt", e.ToString()); // write exepctions to text file
}
}
//PostureProxy ALMotion = null;
/// <summary>
/// Connects to the motion system in the NAO robot
/// </summary>
/// <param name="ip"> ip address of the robot </param>
public void connect(string ip)
{
try
{
naoMotion = new MotionProxy(ip, 9559);
// naoMotion = new ALProxy();
// give joints stiffness
naoMotion.stiffnessInterpolation("Head", 0.6f, 0.6f);
naoMotion.stiffnessInterpolation("Body", 0.6f, 0.6f);
}
catch (Exception e)
{
MessageBox.Show("Exception occurred, error log in C:\\NAOserver\\exception.txt");
System.IO.File.WriteAllText(@"C:\\NAOserver\\exception.txt", e.ToString()); // write exepctions to text file
}
}
/// <summary>
/// Connects to the motion system in the NAO robot
/// </summary>
/// <param name="ip"> ip address of the robot </param>
///
public void connect(string ip)
{
try
{
naoMotion = new MotionProxy(ip, 9559);
bmp = new BehaviorManagerProxy(ip, 9559);
// give joints stiffness
naoMotion.stiffnessInterpolation("Head", 1.0f, 1.0f);
naoMotion.stiffnessInterpolation("LArm", 1.0f, 1.0f);
naoMotion.stiffnessInterpolation("RArm", 1.0f, 1.0f);
}
catch (Exception e)
{
//MessageBox.Show("Exception occurred, error log in C:\\NAOcam\\exception.txt");
System.IO.File.WriteAllText(@"C:\\NAOcam\\exception.txt", e.ToString()); // write exepctions to text file
}
}
public static void StiffnessOn(MotionProxy proxy)
{
// We use the "Body" name to signify the collection of all joints
var pNames = "Body";
var pStiffnessLists = 1.0f;
var pTimeLists = 1.0f;
proxy.stiffnessInterpolation(pNames, pStiffnessLists, pTimeLists);
}
/// <summary>
/// Connects to the motion system in the NAO robot
/// </summary>
/// <param name="ip"> ip address of the robot </param>
public void connect(string ip)
{
// Make sure the standard output directory exists
if (!Directory.Exists("C:\\NAO Motion\\"))
{
Directory.CreateDirectory("C:\\NAO Motion\\");
}
try
{
naoMotion = new MotionProxy(ip, 9559);
// give joints stiffness
naoMotion.stiffnessInterpolation("Head", 1.0f, 1.0f);
naoMotion.stiffnessInterpolation("LArm", 1.0f, 1.0f);
naoMotion.stiffnessInterpolation("RArm", 1.0f, 1.0f);;
}
catch (Exception e)
{
File.WriteAllText(@"C:\\NAO Motion\\exception.txt", e.ToString()); // Write exepctions to text file
}
}
public bool Start()
{
NAOPositions curPosition = GetPosition();
if (curPosition == NAOPositions.Unknown || curPosition == NAOPositions.HeadBack)
{
return(false);
}
motionProxy.stiffnessInterpolation("Body", 1, 1);
while (curPosition != NAOPositions.Stand)
{
switch (curPosition)
{
case NAOPositions.Sit:
ChangePositionFromSitToCrouch();
ChangePositionFromCrouchToStand();
break;
case NAOPositions.Crouch:
ChangePositionFromCrouchToStand();
break;
case NAOPositions.Belly:
case NAOPositions.Frog:
case NAOPositions.Knee:
ChangePositionFromBellyToStand();
break;
case NAOPositions.Back:
ChangePositionFromBackToStand();
break;
case NAOPositions.Right:
case NAOPositions.Left:
ChangePositionFromSideToBelly();
break;
case NAOPositions.HeadBack:
break;
case NAOPositions.Unknown:
return(false);
default:
return(false);
}
curPosition = GetPosition();
}
return(true);
}
public bool Start()
{
NAOPositions curPosition = GetPosition();
if (curPosition == NAOPositions.Unknown || curPosition == NAOPositions.HeadBack)
{
return(false);
}
motionProxy.stiffnessInterpolation(NAOBodyParts.Body.ToString(), 1, 1);
while (curPosition != NAOPositions.Sit)
{
switch (curPosition)
{
case NAOPositions.Belly:
case NAOPositions.Frog:
case NAOPositions.Knee:
ChangePositionFromBellyToCrouch();
break;
case NAOPositions.Back:
ChangePositionFromBackToSitDown();
break;
case NAOPositions.Right:
case NAOPositions.Left:
ChangePositionFromSideToBelly();
break;
case NAOPositions.Stand:
case NAOPositions.Crouch:
ChangePositionFromCrouchToSitDown();
break;
case NAOPositions.HeadBack:
return(false);
case NAOPositions.Unknown:
return(false);
default:
return(false);
}
curPosition = GetPosition();
}
//motionProxy.stiffnessInterpolation(NAOBodyParts.Body.ToString(), 0, 1);//Release stiffness
return(true);
}
/// <summary>
/// Class deconstructor
/// Cuts motor stiffness
/// </summary>
public void removeStiffness()
{
naoMotion.stiffnessInterpolation("Head", 0.0f, 0.0f);
naoMotion.stiffnessInterpolation("LArm", 0.0f, 0.0f);
naoMotion.stiffnessInterpolation("RArm", 0.0f, 0.0f);
}