static async Task RunWithRunLoop()
{
var httpClient = await RobotClientProvider.GetHttpClientAsync(hostname);
var yumi = new RemoteYumi(hostname, httpClient);
await yumi.Init();
await yumi.RunProcedureForBothArms("NoClue");
}
static async Task RunWithProgramPointer()
{
// Using this method to get the HttpClient ensures that we are already logged in to the
// robot when we try to send commands later.
var httpClient = await RobotClientProvider.GetHttpClientAsync(hostname);
// The RemoteYumi class represents the whole robot.
var yumi = new RemoteYumi(hostname, httpClient);
// We must set the program pointer to the routine we want to run for each arm.
await yumi.LeftArm.SetPPToRoutine("Gestures", "NoClue");
await yumi.RightArm.SetPPToRoutine("Gestures", "NoClue");
// To actually get the robot to move the execution must be started.
await yumi.StartExecution();
}
static void Init()
{
var httpClient = RobotClientProvider.GetHttpClientAsync(hostname).Result;
Program.yumi = new RemoteYumi(hostname, httpClient);
Program.yumi.Init().Wait();
Program.yumi.RunProcedureForBothArms("Home").Wait();
Program.yumi.LeftArm.RunProcedure("HandUp");
Console.WriteLine(" ==== INIT COMPLETE === ");
try
{
//RunWithProgramPointer().Wait();
//RunWithRunLoop().Wait();
Test().Wait();
}
catch (Exception ex)
{
Console.WriteLine(ex);
}
}
static void Main(string[] args)
{
//string url = "192.168.54.108";
string url = "localhost";
var rightArm = new RemoteRobot(url, "T_ROB_R", RobotClientProvider.GetHttpClient(url));
var leftArm = new RemoteRobot(url, "T_ROB_L", RobotClientProvider.GetHttpClient(url));
Task.WhenAll(
rightArm.RunProcedure("wavehigh"),
leftArm.RunProcedure("wavelow"))
.Wait();
Console.WriteLine("Flip");
Task.Delay(2000).Wait();
Task.WhenAll(
rightArm.RunProcedure("wavelow"),
leftArm.RunProcedure("wavehigh"))
.Wait();
Console.WriteLine("Done");
Console.ReadKey();
}
