/// <summary>
/// メイン
/// </summary>
public override void Drive()
{
RLeg.DriveParts();
LLeg.DriveParts();
//RArm.DriveParts();
//LArm.DriveParts();
if (RLeg.myMotorKnee.finishFlg && RLeg.myMotorAnkle.finishFlg && RLeg.myMotorThigh.finishFlg)
{
RLeg.LegStatus = Utilty.PartsMoveEnum.Move_middle;
RLeg.myMotorThigh.MyMotor.CustomData = "1," + TargetListMiddleward[0] + "," + "10";
RLeg.myMotorKnee.MyMotor.CustomData = "1," + TargetListMiddleward[1] + "," + "10";
RLeg.myMotorAnkle.MyMotor.CustomData = "1," + TargetListMiddleward[2] + "," + "10";
LLeg.LegStatus = Utilty.PartsMoveEnum.Move_middle;
LLeg.myMotorThigh.MyMotor.CustomData = "0," + TargetListMiddleward[0] + "," + "10";
LLeg.myMotorKnee.MyMotor.CustomData = "0," + TargetListMiddleward[1] + "," + "30";
LLeg.myMotorAnkle.MyMotor.CustomData = "0," + TargetListMiddleward[2] + "," + "10";
RArm.myMotor1.MyMotor.CustomData = "0,0,10";
RArm.myMotor2.MyMotor.CustomData = "0,0,10";
LArm.myMotor1.MyMotor.CustomData = "0,0,10";
LArm.myMotor2.MyMotor.CustomData = "0,0,10";
}
}
/// <summary>
/// メイン
/// </summary>
public override void Drive()
{
//RLeg.setAngle(TargetListForward);
RLeg.DriveParts();
//RArm.DriveParts();
//LLeg.setAngle(TargetListForward);
LLeg.DriveParts();
//LArm.DriveParts();10
//if (RLeg.LegStatus == Utilty.PartsMoveEnum.Move_forward && LLeg.LegStatus == Utilty.PartsMoveEnum.Move_Backward)
//{
// if (RLeg.DriveParts() && LLeg.DriveParts() && ctrlStatus == Utilty.StatusEnum.Forword)
// {
// RLeg.LegStatus = Utilty.PartsMoveEnum.Move_Backward;
// RLeg.setAngle(TargetListBackward);
// LLeg.LegStatus = Utilty.PartsMoveEnum.Move_middle;
// LLeg.setAngle(TargetListMiddleward);
// }
//}
//else if (RLeg.LegStatus == Utilty.PartsMoveEnum.Move_Backward && LLeg.LegStatus == Utilty.PartsMoveEnum.Move_forward)
//{
// if (RLeg.DriveParts() && LLeg.DriveParts() && ctrlStatus == Utilty.StatusEnum.Forword)
// {
// RLeg.LegStatus = Utilty.PartsMoveEnum.Move_middle;
// RLeg.setAngle(TargetListMiddleward);
// LLeg.LegStatus = Utilty.PartsMoveEnum.Move_Backward;
// LLeg.setAngle(TargetListBackward);
// }
//}
//else if (RLeg.LegStatus == Utilty.PartsMoveEnum.Move_middle)
//{
// LLeg.DriveParts();
// if (RLeg.DriveParts())
// {
// RLeg.LegStatus = Utilty.PartsMoveEnum.Move_forward;
// RLeg.setAngle(TargetListForward);
// }
//}
//else if (LLeg.LegStatus == Utilty.PartsMoveEnum.Move_middle)
//{
// RLeg.DriveParts();
// if (LLeg.DriveParts())
// {
// LLeg.LegStatus = Utilty.PartsMoveEnum.Move_forward;
// LLeg.setAngle(TargetListForward);
// }
//}
}
/// <summary>
/// メイン
/// </summary>
public override void Drive()
{
RLeg.DriveParts();
LLeg.DriveParts();
//RArm.DriveParts();
//LArm.DriveParts();
if ((DateTime.UtcNow - lasttime) > TimeSpan.FromSeconds(3))
{
RLeg.LegStatus = Utilty.PartsMoveEnum.off;
RLeg.myMotorThigh.MyMotor.CustomData = "1,90,10";
RLeg.myMotorKnee.MyMotor.CustomData = "1,100,10";
RLeg.myMotorAnkle.MyMotor.CustomData = "1,30,10";
LLeg.LegStatus = Utilty.PartsMoveEnum.off;
LLeg.myMotorThigh.MyMotor.CustomData = "0,90,10";
LLeg.myMotorKnee.MyMotor.CustomData = "0,100,10";
LLeg.myMotorAnkle.MyMotor.CustomData = "0,30,10";
return;
}
if (RLeg.myMotorThigh.finishFlg && LLeg.myMotorThigh.finishFlg)
{
RLeg.LegStatus = Utilty.PartsMoveEnum.Move_middle;
RLeg.myMotorThigh.MyMotor.CustomData = "1,5,10";
RLeg.myMotorKnee.MyMotor.CustomData = "1,10,10";
RLeg.myMotorAnkle.MyMotor.CustomData = "1,5,10";
LLeg.LegStatus = Utilty.PartsMoveEnum.Move_middle;
LLeg.myMotorThigh.MyMotor.CustomData = "0,5,10";
LLeg.myMotorKnee.MyMotor.CustomData = "0,10,10";
LLeg.myMotorAnkle.MyMotor.CustomData = "0,5,10";
lasttime = DateTime.UtcNow;
return;
}
}
public override void Drive()
{
RLeg.DriveParts();
RArm.DriveParts();
LLeg.DriveParts();
LArm.DriveParts();
if (ctrlStatus == Utilty.StatusEnum.Forword)
{
if (RLeg.LegStatus == Utilty.PartsMoveEnum.Move_forward || RLeg.LegStatus == Utilty.PartsMoveEnum.Run_forward)
{
if (RLeg.myMotorKnee.finishFlg && RLeg.myMotorAnkle.finishFlg && RLeg.myMotorThigh.finishFlg)
{
RLeg.LegStatus = Utilty.PartsMoveEnum.Run_Backward;
RLeg.myMotorThigh.MyMotor.CustomData = "1," + TargetListBackward[0] + "," + "30";
RLeg.myMotorKnee.MyMotor.CustomData = "1," + TargetListBackward[1] + "," + "30";
RLeg.myMotorAnkle.MyMotor.CustomData = "1," + TargetListBackward[2] + "," + "5";
LLeg.LegStatus = Utilty.PartsMoveEnum.Move_middle;
LLeg.myMotorThigh.MyMotor.CustomData = "0," + TargetListMiddleward[0] + "," + "30";
LLeg.myMotorKnee.MyMotor.CustomData = "0," + TargetListMiddleward[1] + "," + "50";
LLeg.myMotorAnkle.MyMotor.CustomData = "0," + TargetListMiddleward[2] + "," + "10";
return;
}
}
else if (LLeg.LegStatus == Utilty.PartsMoveEnum.Move_forward || LLeg.LegStatus == Utilty.PartsMoveEnum.Run_forward)
{
if (LLeg.myMotorKnee.finishFlg && LLeg.myMotorAnkle.finishFlg && LLeg.myMotorThigh.finishFlg)
{
LLeg.LegStatus = Utilty.PartsMoveEnum.Run_Backward;
LLeg.myMotorThigh.MyMotor.CustomData = "0," + TargetListBackward[0] + "," + "30";
LLeg.myMotorKnee.MyMotor.CustomData = "0," + TargetListBackward[1] + "," + "30";
LLeg.myMotorAnkle.MyMotor.CustomData = "0," + TargetListBackward[2] + "," + "5";
RLeg.LegStatus = Utilty.PartsMoveEnum.Move_middle;
RLeg.myMotorThigh.MyMotor.CustomData = "1," + TargetListMiddleward[0] + "," + "30";
RLeg.myMotorKnee.MyMotor.CustomData = "1," + TargetListMiddleward[1] + "," + "50";
RLeg.myMotorAnkle.MyMotor.CustomData = "1," + TargetListMiddleward[2] + "," + "10";
return;
}
}
if (LLeg.LegStatus == Utilty.PartsMoveEnum.Move_middle)
{
if (LLeg.myMotorThigh.finishFlg)
{
LLeg.LegStatus = Utilty.PartsMoveEnum.Run_forward;
LLeg.myMotorThigh.MyMotor.CustomData = "0," + TargetListForward[0] + "," + "30";
LLeg.myMotorKnee.MyMotor.CustomData = "0," + TargetListForward[1] + "," + "50";
LLeg.myMotorAnkle.MyMotor.CustomData = "0," + TargetListForward[2] + "," + "50";
}
}
if (RLeg.LegStatus == Utilty.PartsMoveEnum.Move_middle)
{
if (RLeg.myMotorThigh.finishFlg)
{
RLeg.myMotorThigh.MyMotor.CustomData = "1," + TargetListForward[0] + "," + "30";
RLeg.myMotorKnee.MyMotor.CustomData = "1," + TargetListForward[1] + "," + "50";
RLeg.myMotorAnkle.MyMotor.CustomData = "1," + TargetListForward[2] + "," + "50";
RLeg.LegStatus = Utilty.PartsMoveEnum.Run_forward;
}
}
}
else if (ctrlStatus == Utilty.StatusEnum.Halt)
{
if (RLeg.LegStatus == Utilty.PartsMoveEnum.Run_forward)
{
if (RLeg.myMotorKnee.finishFlg && RLeg.myMotorAnkle.finishFlg && RLeg.myMotorThigh.finishFlg)
{
RLeg.LegStatus = Utilty.PartsMoveEnum.Move_Backward;
RLeg.myMotorThigh.MyMotor.CustomData = "1," + TargetListBackward[0] + "," + "10";
RLeg.myMotorKnee.MyMotor.CustomData = "1," + TargetListBackward[1] + "," + "10";
RLeg.myMotorAnkle.MyMotor.CustomData = "1," + TargetListBackward[2] + "," + "5";
LLeg.LegStatus = Utilty.PartsMoveEnum.Move_middle;
LLeg.myMotorThigh.MyMotor.CustomData = "0," + TargetListMiddleward[0] + "," + "10";
LLeg.myMotorKnee.MyMotor.CustomData = "0," + TargetListMiddleward[1] + "," + "30";
LLeg.myMotorAnkle.MyMotor.CustomData = "0," + TargetListMiddleward[2] + "," + "10";
return;
}
}
else if (LLeg.LegStatus == Utilty.PartsMoveEnum.Run_forward)
{
if (LLeg.myMotorKnee.finishFlg && LLeg.myMotorAnkle.finishFlg && LLeg.myMotorThigh.finishFlg)
{
LLeg.LegStatus = Utilty.PartsMoveEnum.Move_Backward;
LLeg.myMotorThigh.MyMotor.CustomData = "0," + TargetListBackward[0] + "," + "10";
LLeg.myMotorKnee.MyMotor.CustomData = "0," + TargetListBackward[1] + "," + "10";
LLeg.myMotorAnkle.MyMotor.CustomData = "0," + TargetListBackward[2] + "," + "5";
RLeg.LegStatus = Utilty.PartsMoveEnum.Move_middle;
RLeg.myMotorThigh.MyMotor.CustomData = "1," + TargetListMiddleward[0] + "," + "10";
RLeg.myMotorKnee.MyMotor.CustomData = "1," + TargetListMiddleward[1] + "," + "30";
RLeg.myMotorAnkle.MyMotor.CustomData = "1," + TargetListMiddleward[2] + "," + "10";
return;
}
}
if (LLeg.LegStatus == Utilty.PartsMoveEnum.Move_middle)
{
if (LLeg.myMotorThigh.finishFlg)
{
LLeg.LegStatus = Utilty.PartsMoveEnum.Move_forward;
LLeg.myMotorThigh.MyMotor.CustomData = "0," + TargetListForward[0] + "," + "30";
LLeg.myMotorKnee.MyMotor.CustomData = "0," + TargetListForward[1] + "," + "50";
LLeg.myMotorAnkle.MyMotor.CustomData = "0," + TargetListForward[2] + "," + "50";
}
}
if (RLeg.LegStatus == Utilty.PartsMoveEnum.Move_middle)
{
if (RLeg.myMotorThigh.finishFlg)
{
RLeg.myMotorThigh.MyMotor.CustomData = "1," + TargetListForward[0] + "," + "30";
RLeg.myMotorKnee.MyMotor.CustomData = "1," + TargetListForward[1] + "," + "50";
RLeg.myMotorAnkle.MyMotor.CustomData = "1," + TargetListForward[2] + "," + "50";
RLeg.LegStatus = Utilty.PartsMoveEnum.Move_forward;
}
}
}
}