private void button_DrawScara_Click(object sender, EventArgs e)
{
Scara s_arm = new Scara();
s_arm.Base_pt = new Point3D(0, 0, 0);
s_arm.pt1 = new Point3D(Convert.ToDouble(textBox_Arm1_X.Text),
Convert.ToDouble(textBox_Arm1_Y.Text),
Convert.ToDouble(textBox_Arm1_Z.Text));
s_arm.pt2 = new Point3D(s_arm.pt1.X + Convert.ToDouble(textBox_Arm2_X.Text),
s_arm.pt1.Y + Convert.ToDouble(textBox_Arm2_Y.Text),
s_arm.pt1.Z + Convert.ToDouble(textBox_Arm2_Z.Text));
s_arm.pt3 = new Point3D(s_arm.pt2.X + Convert.ToDouble(textBox_Arm3_X.Text),
s_arm.pt2.Y + Convert.ToDouble(textBox_Arm3_Y.Text),
s_arm.pt2.Z + Convert.ToDouble(textBox_Arm3_Z.Text));
s_arm.armb_1 = Coordinate3D.Point3D.Distance(s_arm.Base_pt, s_arm.pt1);
s_arm.arm1_2 = Coordinate3D.Point3D.Distance(s_arm.pt1, s_arm.pt2);
s_arm.arm2_3 = Coordinate3D.Point3D.Distance(s_arm.pt2, s_arm.pt3);
if (Scara.IsScara(s_arm))
{
DrawScara_Paint(sender, null, s_arm);
}
else
{
MessageBox.Show("Invalid Scara arm parameters!", "Error", MessageBoxButtons.OK, MessageBoxIcon.Warning);
textBox_Arm1_X.Text = "0"; textBox_Arm1_Y.Text = "0"; textBox_Arm1_Z.Text = "100";
textBox_Arm2_X.Text = "0"; textBox_Arm2_Y.Text = "100"; textBox_Arm2_Z.Text = "0";
textBox_Arm3_X.Text = "100"; textBox_Arm3_Y.Text = "0"; textBox_Arm3_Z.Text = "0";
}
}
private void DrawScara_Paint(object sender, EventArgs e, Scara s_arm)
{
panel_draw_Paint(sender, null);
Button_ChangeViewAngle_Click(sender, null);
//drawArmOnView(InvMat, s_arm.Base_pt, s_arm.pt1);
}
