/// <summary> /// Used to set connected axis, helpful in order to properly use the thresholding algorithms on the correct axis of motion /// </summary> /// <param name="actuators"><object, of type Controller.Actuators/param> public void SetConnectedAxis(Actuators actuators) { ConnectedAxisList = new List <Enums.Axis>(); for (int i = 0; i < Actuators.List.Count; i++) { ConnectedAxisList.Add(Actuators.List[i].Axis); } }
private void SetupSimulator() { Simulator simulator = new Simulator(itemsList); simulator.Items.ForEach(item => { if (item.ItemType.Equals(typeof(ISensor))) { Sensors.Add(item); } else if (item.ItemType.Equals(typeof(IActuator))) { Actuators.Add(item); } }); }
public virtual void CommandActuator(double[] efforts) { /* * new RosSharp.RosBridgeClient.MessageTypes.Std.Header( * 1, new RosSharp.RosBridgeClient.MessageTypes.Std.Time((uint)DateTime.Now.TimeOfDay.TotalSeconds, 40), "my frame")*/ Actuators msg = new Actuators( new RosSharp.RosBridgeClient.MessageTypes.Std.Header(), new double[0], efforts, new double[0]); string json = JsonConvert.SerializeObject(msg); RosSocket.Publish(Topics.GetPublishId(nameof(CommandActuator)), msg); Console.WriteLine($"Publishing to {Topics.GetTopic(nameof(CommandActuator))}: {json}"); }
public override string ToString() { StringBuilder sb = new StringBuilder(); if (Sensors != null) { sb.Append("Сенсоры: \n"); } for (int i = 0; i < Sensors.Count(); i++) { if (Sensors[i].Count > 0) { sb.Append(Sensors[i].TypeOfSensor + " " + Sensors[i].TypeOfSignal + " кол-во:" + Sensors[i].Count + "\n"); } } if (OperatorPanels != null) { sb.Append("Панели оператора: \n"); } for (int i = 0; i < OperatorPanels.Count(); i++) { sb.Append(OperatorPanels[i].TypeOfOperatorPanel + "\n"); } if (Actuators != null) { sb.Append("Исполнительные механизмы: \n"); } for (int i = 0; i < Actuators.Count(); i++) { sb.Append(Actuators[i].TypeOfActuator + "\n"); } if (MultimediaSystems != null) { sb.Append("Мультимедиа системы: \n"); } for (int i = 0; i < MultimediaSystems.Count(); i++) { sb.Append(MultimediaSystems[i].TypeOfMS + "\n"); } if (ManagmentControllers != null) { sb.Append("Контроллеры управления: \n"); } for (int i = 0; i < ManagmentControllers.Count(); i++) { sb.Append(ManagmentControllers[i].TypeOfController + "\n"); } if (NetworkDevices != null) { sb.Append("Сетевые устройства: \n"); } for (int i = 0; i < NetworkDevices.Count(); i++) { sb.Append(NetworkDevices[i].TypeOfNetDevice + "\n"); } return(sb.ToString()); }
//////////////////////////////////////////////////////////// void Start() { rend = GetComponent <Renderer>(); actuators = transform.parent.gameObject.GetComponent <Actuators>(); }