private void button1_Click(object sender, EventArgs e)
{
RobotArm arm = RobotArm.lynxmotionL6();
arm.links[1] = ArmLink.rotateY(arm.links[1], Math.PI / 4);
arm.links[1] = ArmLink.rotateZ(arm.links[1], -Math.PI / 4);
arm.links[3] = ArmLink.rotateY(arm.links[3], -Math.PI / 4);
arm.links[2] = ArmLink.rotateY(arm.links[2], Math.PI / 4);
double[][] effector = arm.linkPosition(4);
double x = effector[0][0];
double y = effector[1][0];
double z = effector[2][0];
String str = Convert.ToString(x) + " , " + Convert.ToString(y) + " , " + Convert.ToString(z);
effectorPositionText.Text = str;
Graphics g = panel1.CreateGraphics();
int panelx = panel1.Width;
int panely = panel1.Height;
arm.drawArm(panelx, panely, g);
}
private void button3_Click(object sender, EventArgs e)
{
arm = RobotArm.lynxmotionL6();
g = panel1.CreateGraphics();
xdim = panel1.Width;
ydim = panel1.Height;
g.Clear(Color.White);
this.arm.drawArmcyl(xdim, ydim, g);
double[][] effector = arm.linkPosition(4);
double x = effector[0][0];
double y = effector[1][0];
double z = effector[2][0];
String str = Convert.ToString(x) + " , " + Convert.ToString(y) + " , " + Convert.ToString(z);
effectorPositionText.Text = str;
Link1AngleText.Text = Link2AngleText.Text = Link3AngleText.Text = Link4AngleText.Text = Link5AngleText.Text = "0";
GripWidthText.Text = "100";
Link1AngleText.Text = "0";
Link2AngleText.Text = "0";
Link3AngleText.Text = "0";
Link4AngleText.Text = "0";
Link5AngleText.Text = "0";
yawText.Text = "0";
pitchText.Text = "0";
rollText.Text = "0";
}