public void RunCommand(MoveLogicalCommand command) { this.RunCommand(command.GetRawCommand()); }
private void OpenGripper() { Debug.WriteLine("Opening gripper."); MoveLogicalCommand moveCommand = new MoveLogicalCommand(m_Servos); moveCommand[ChannelId.Gripper] = 20; m_SSC32Board.RunCommand(moveCommand); }
public void RunCommand(MoveLogicalCommand command) { m_CommandRunner.RunCommand(command); }
private void MoveTo(Vector3 location, string message) { if (!String.IsNullOrEmpty(message)) { Debug.WriteLine(message); } MoveLogicalCommand moveCommand = new MoveLogicalCommand(m_Servos); JointAngles jointAngles = GetJointAngles(location.X, location.Y, location.Z); moveCommand[ChannelId.Base] = jointAngles.BaseAngle; moveCommand[ChannelId.Shoulder] = jointAngles.ShoulderAngle; moveCommand[ChannelId.Elbow] = jointAngles.ElbowAngle; moveCommand[ChannelId.WristUpDown] = jointAngles.WristTiltAngle; this.SSC32Board.RunCommand(moveCommand); }
private void CloseGripper() { Debug.WriteLine("Closing gripper."); MoveLogicalCommand moveCommand = new MoveLogicalCommand(m_Servos); moveCommand[ChannelId.Gripper] = c_ClosedGripperPosition; this.SSC32Board.RunCommand(moveCommand); }
private void MoveToDropTarget() { Debug.WriteLine("Moving to drop target."); Vector3 wristLocation = new Vector3(50, 150, 150); JointAngles jointAngles = GetJointAngles(50, 150, 40, true); MoveLogicalCommand moveCommand = new MoveLogicalCommand(m_Servos); moveCommand[ChannelId.Base] = jointAngles.BaseAngle; moveCommand[ChannelId.Shoulder] = jointAngles.ShoulderAngle; moveCommand[ChannelId.Elbow] = jointAngles.ElbowAngle; moveCommand[ChannelId.WristUpDown] = GetWristTiltAngleForVertical(jointAngles); //moveCommand[ChannelId.Gripper] = 28; m_SSC32Board.RunCommand(moveCommand); }
private void MoveToHomePosition() { Debug.WriteLine("Moving to home position."); MoveLogicalCommand moveCommand = new MoveLogicalCommand(m_Servos); moveCommand[ChannelId.Base] = -90; moveCommand[ChannelId.Shoulder] = 0; moveCommand[ChannelId.Elbow] =0; moveCommand[ChannelId.WristUpDown] = -90; moveCommand[ChannelId.Gripper] = 20; m_SSC32Board.RunCommand(moveCommand); }
private void MoveToPickupLocation() { Debug.WriteLine("Moving to pikup location."); MoveLogicalCommand moveCommand = new MoveLogicalCommand(m_Servos); JointAngles jointAngles = GetJointAngles(this.X, this.Y, this.Z, this.ZIsBasedOnEndeffectorTip); moveCommand[ChannelId.Base] = jointAngles.BaseAngle; moveCommand[ChannelId.Shoulder] = jointAngles.ShoulderAngle; moveCommand[ChannelId.Elbow] = jointAngles.ElbowAngle; moveCommand[ChannelId.WristUpDown] = GetWristTiltAngleForVertical(jointAngles); //moveCommand[ChannelId.Gripper] = 20; m_SSC32Board.RunCommand(moveCommand); }
private void MoveToDropTarget() { Debug.WriteLine("Moving to drop target."); JointAngles jointAngles = GetJointAngles(m_DropOffLocation.X, m_DropOffLocation.Y, m_DropOffLocation.Z); MoveLogicalCommand moveCommand = new MoveLogicalCommand(m_Servos); moveCommand[ChannelId.Base] = jointAngles.BaseAngle; moveCommand[ChannelId.Shoulder] = jointAngles.ShoulderAngle; moveCommand[ChannelId.Elbow] = jointAngles.ElbowAngle; moveCommand[ChannelId.WristUpDown] = jointAngles.WristTiltAngle; this.SSC32Board.RunCommand(moveCommand); }
private void MoveDownToPickupLocation(Vector3 pickupLocation) { Debug.WriteLine("Moving to pickup location."); MoveLogicalCommand moveCommand = new MoveLogicalCommand(m_Servos); JointAngles jointAngles = GetJointAngles(pickupLocation.X, pickupLocation.Y, pickupLocation.Z); moveCommand[ChannelId.Base] = jointAngles.BaseAngle; moveCommand[ChannelId.Shoulder] = jointAngles.ShoulderAngle; moveCommand[ChannelId.Elbow] = jointAngles.ElbowAngle; moveCommand[ChannelId.WristUpDown] = jointAngles.WristTiltAngle; this.SSC32Board.RunCommand(moveCommand); }
private void MoveAboveHomePosition() { Debug.WriteLine("Moving above home position."); MoveLogicalCommand moveCommand = new MoveLogicalCommand(m_Servos); JointAngles jointAngles = GetJointAngles(m_HomeLocation.X, m_HomeLocation.Y, m_HomeLocation.Z + 30); moveCommand[ChannelId.Base] = jointAngles.BaseAngle; moveCommand[ChannelId.Shoulder] = jointAngles.ShoulderAngle; moveCommand[ChannelId.Elbow] = jointAngles.ElbowAngle; moveCommand[ChannelId.WristUpDown] = jointAngles.WristTiltAngle; moveCommand[ChannelId.Gripper] = c_OpenGripperPosition; this.SSC32Board.RunCommand(moveCommand); }