public void SendDriveCommand(long xJoystickValue, long yJoystickValue, long zJoystickValue, Component parentComponent)
{
SetWrenchEffort setWrenchEffort = new SetWrenchEffort();
setWrenchEffort.SetSource(badgerControlSubsystem.LocalAddress);
setWrenchEffort.SetDestination(parentComponent.JausAddress);
// This is intentional, do not attempt to swap the X and Y values.
setWrenchEffort.SetPropulsiveLinearEffortX(yJoystickValue);
setWrenchEffort.SetPropulsiveLinearEffortY(xJoystickValue);
setWrenchEffort.SetPropulsiveLinearEffortZ(zJoystickValue);
Transport.SendMessage(setWrenchEffort);
}
public void SendDriveCommand(long xJoystickValue, long yJoystickValue, long zJoystickValue, Component parentComponent)
{
SetWrenchEffort setWrenchEffort = new SetWrenchEffort();
setWrenchEffort.SetSource(badgerControlSubsystem.LocalAddress);
setWrenchEffort.SetDestination(parentComponent.JausAddress);
// This is intentional, do not attempt to swap the X and Y values.
setWrenchEffort.SetPropulsiveLinearEffortX(yJoystickValue);
setWrenchEffort.SetPropulsiveLinearEffortY(xJoystickValue);
setWrenchEffort.SetPropulsiveLinearEffortZ(zJoystickValue);
Transport.SendMessage(setWrenchEffort);
}
public void SendWrenchCommandRelative(long turntable, long shoulder, long elbow, long wrist, long rotationOfClaw, long claw, Component parentComponent)
{
SetWrenchEffort setWrenchEffort = new SetWrenchEffort();
setWrenchEffort.SetSource(badgerControlSubsystem.LocalAddress);
setWrenchEffort.SetDestination(parentComponent.JausAddress);
setWrenchEffort.SetPropulsiveLinearEffortX(turntable);
setWrenchEffort.SetPropulsiveLinearEffortY(shoulder);
setWrenchEffort.SetPropulsiveLinearEffortZ(elbow);
setWrenchEffort.SetPropulsiveRotationalEffortX(wrist);
setWrenchEffort.SetPropulsiveRotationalEffortY(rotationOfClaw);
setWrenchEffort.SetPropulsiveRotationalEffortZ(claw);
setWrenchEffort.SetResistiveLinearEffortX(RELATIVE);
Transport.SendMessage(setWrenchEffort);
}
public void SendWrenchCommandQuasi(long primaryXJoystickValue, long primaryYJoystickValue, long primaryZJoystickValue, long secondaryXJoystickValue, long secondaryYJoystickValue, long secondaryZJoystickValue, Component parentComponent)
{
SetWrenchEffort setWrenchEffort = new SetWrenchEffort();
setWrenchEffort.SetSource(badgerControlSubsystem.LocalAddress);
setWrenchEffort.SetDestination(parentComponent.JausAddress);
setWrenchEffort.SetPropulsiveLinearEffortX(primaryXJoystickValue);
setWrenchEffort.SetPropulsiveLinearEffortY(primaryYJoystickValue);
setWrenchEffort.SetPropulsiveLinearEffortZ(primaryZJoystickValue);
setWrenchEffort.SetPropulsiveRotationalEffortX(secondaryXJoystickValue);
setWrenchEffort.SetPropulsiveRotationalEffortY(secondaryYJoystickValue);
setWrenchEffort.SetPropulsiveRotationalEffortZ(secondaryZJoystickValue);
setWrenchEffort.SetResistiveLinearEffortX(QUASI);
Transport.SendMessage(setWrenchEffort);
}
public void SendWrenchCommandRelative(long turntable, long shoulder, long elbow, long wrist, long rotationOfClaw, long claw, Component parentComponent)
{
SetWrenchEffort setWrenchEffort = new SetWrenchEffort();
setWrenchEffort.SetSource(badgerControlSubsystem.LocalAddress);
setWrenchEffort.SetDestination(parentComponent.JausAddress);
setWrenchEffort.SetPropulsiveLinearEffortX(turntable);
setWrenchEffort.SetPropulsiveLinearEffortY(shoulder);
setWrenchEffort.SetPropulsiveLinearEffortZ(elbow);
setWrenchEffort.SetPropulsiveRotationalEffortX(wrist);
setWrenchEffort.SetPropulsiveRotationalEffortY(rotationOfClaw);
setWrenchEffort.SetPropulsiveRotationalEffortZ(claw);
setWrenchEffort.SetResistiveLinearEffortX(RELATIVE);
Transport.SendMessage(setWrenchEffort);
}
public void SendWrenchCommandQuasi(long primaryXJoystickValue, long primaryYJoystickValue, long primaryZJoystickValue, long secondaryXJoystickValue, long secondaryYJoystickValue, long secondaryZJoystickValue, Component parentComponent)
{
SetWrenchEffort setWrenchEffort = new SetWrenchEffort();
setWrenchEffort.SetSource(badgerControlSubsystem.LocalAddress);
setWrenchEffort.SetDestination(parentComponent.JausAddress);
setWrenchEffort.SetPropulsiveLinearEffortX(primaryXJoystickValue);
setWrenchEffort.SetPropulsiveLinearEffortY(primaryYJoystickValue);
setWrenchEffort.SetPropulsiveLinearEffortZ(primaryZJoystickValue);
setWrenchEffort.SetPropulsiveRotationalEffortX(secondaryXJoystickValue);
setWrenchEffort.SetPropulsiveRotationalEffortY(secondaryYJoystickValue);
setWrenchEffort.SetPropulsiveRotationalEffortZ(secondaryZJoystickValue);
setWrenchEffort.SetResistiveLinearEffortX(QUASI);
Transport.SendMessage(setWrenchEffort);
}
